If the shift lever cannot be shifted with your foot on the brake, there may be a problem with the shift lock system (a system to prevent accidental operation of the shift lever). Have the vehicle inspected by your Toyota dealer immediately.
The following steps may be used as an emergency measure to ensure that the shift lever can be shifted.
Set the parking brake.
Vehicles with smart key system:
Turn the “ENGINE START STOP” switch to ACCESSORY mode.
Vehicles without smart key system: Turn the engine switch to the “ACC” position.
Depress the brake pedal.

Pry the cover up with a flathead screwdriver or equivalent.
To prevent damage to the cover, cover the tip of the screwdriver with a rag.

Press the shift lock override button.
The shift lever can be shifted while the button is pressed.
If the engine will not start
If you lose your keysSwitch Failure (B2342)
DESCRIPTION
This DTC is output when the sliding roof ECU (sliding roof drive gear sub-assembly)
detects that the sliding roof switch is stuck for 30 seconds or more.
DTC Code
DTC Detection Condition
Trouble Area
...
Alarm
The system sounds the alarm and flashes lights when forcible entry is detected.
- Triggering of the alarm
The alarm is triggered in the following situations when the alarm is set.
• A locked door is unlocked or opened in any way other than by using ...
Voice Guidance does not Function
PROCEDURE
1.
CHECK VOICE GUIDANCE SETTING
(a) Check that the voice guidance setting is not off.
OK:
Voice guidance setting is not off.
NG
CHANGE THE VOICE GUIDANCE SETTING TO ON
...