If the shift lever cannot be shifted with your foot on the brake pedal, 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 without a smart key
system
Turn the engine switch to the “ACC” position.
Vehicles with a smart key system
Turn the “ENGINE START STOP” switch to ACCESSORY mode.
Depress the brake pedal.

Pry the cover up with a flathead screwdriver or equivalent tool.

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 keysAcceleration Sensor Stuck Malfunction (C1232,C1243,C1245,C1279)
DESCRIPTION
The skid control ECU receives signals from the yaw rate and acceleration sensor
via the CAN communication system.
If there is trouble in the bus lines between the yaw rate and acceleration sensor
and the CAN communication system, DTCs U0123 ( ...
Theft Deterrent System Communication Line High Fixation (B279A)
DESCRIPTION
If the communication line (EFIO-IMI) to the ID code box is stuck on HI output,
the ECM stores this DTC.
DTC Code
DTC Detection Condition
Trouble Area
B279A
The communication line (EFI ...