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if you look on the center council where the shift lever is you will see a small plastic button on the drivers. Remove the button. Insert a small screwdriver into the hole and push down. You will then be able to move the shift lever into nuetral and push the car.
This button only makes the gearbox change from 3rd to 4th or 4th to 3rd, will not down shift in any other gear, make sure it is in 4th gear, usually above 60km, than press o/d off it should go into 3rd gear, if it does not than see a automatic specialist, it is usually a sensor, if you go to Toyota they will charge you a fair bit.
the linkage or the cable from the shifter to the trans.?
block the tires so the car can not roll away...
open the hood and remove the cable from the shifter on the transmission.
see if you can manualy move the shifter on the trans.
if that moves... you may need to replace the cable (shift linkage)
I have that problem too, there is a little square cap on the shift consloe, its about 1/2 inch square if you pry that cap off with a screwdriver ..there is a small white button in the hole. That button is an emergency manual release for the shifter. If you push in and hold that button down you can manually get the shifter out of park.