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Use a multimeter to check. unplug the sensor and replace it with multimeter. As the coolant warms you should see a voltage change. I don't know the exact figures you should see but it works on voltage change to close and open the circuit, hope it helps.
Yes, your clutch might be worn and/or out of adjustment or the trans is worn. Your clutch may be fine also. Toyota's have a problem with there shifter bushings and seats. They brake and crack also causing shifting problems. And some times only one gear depending on the condition.If yours is broken,crack or damaged, you can find the parts from Toyota and there a whole lot cheaper than a clutch. Also I recommend adjusting the clutch if possible. Not all are adjustable. Check your clutch fluid.