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 keysPortable Player cannot be Registered
CAUTION / NOTICE / HINT
HINT:
Some versions of "Bluetooth" compatible audio players may not function, or the
function may be limited using the radio and display receiver assembly, even if the
portable audio player itself can play files (See pag ...
Vehicle Speed or Engine Speed Signal Malfunction (C2173/73)
DESCRIPTION
The tire pressure warning ECU receives a vehicle speed signal from the combination
meter and an engine speed signal from the ECM. The tire pressure warning ECU uses
these signals to store DTCs C2121/21 to C2124/24 or C2125/25*.
*: w/ S ...