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Hi Sam ! Have checked whether is there any problem by the where the shifting lever is? might something there is not working properly since is from parking to Reverse. the other option I agree with the CMI Toyota to change the cable. I had the similar case in my garage but with Nissan March and renewed the cable and works fine.
the second code is govener pressure sensor. the pressure is to low. the first code is sensor voltage to low, i would check the wiring where it plugs into trans for corrosion. also make sure the kick down cable on the throttle is connected and not broke because this cable controls the line pressure.
i had the same problem with my toyota estate i had to remove the gearbox and remove the bottom plate then tap the gears with a hammer not to hard untill the gear moved then put it back together and worked fine never did it again and wasnt to hard to move the gear. hope this helps i tryed rock banging and everything else before i took the gearbox out
Just a couple of things to check if you haven't compare the smell and apearance of the tranmission oil to so new, if it looks dark and smell burned you probably have a bad transmision, clutches or burned up. Does it whine or make any noise? a stopped up filter will do this. also is it full when warm on the dip tick runniing in park?
if only some gears are effected, then most lilkley it is worn syncronizers on those gears requiring a tranmission rebuild. if it is on all gears then it is clutch related. the clutch could be dragging slightly, try flushing and bleeding the clutch hydralics
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