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There will be a button on the dashboard somewhere (or next to the gearshift perhaps) that has the winter symbol on it. The reason you are starting in 2nd is that you have selected winter mode (possibly hit it while cleaning?) and to make it safer to take off, 2nd gear is used (less likely to lose traction)
I suspect gears are arranged in the same manner as US-marketed vehicles, PRND21, with B and S representing a mid and low gear. Not sure where you are in the world or what the original market for the VITZ is, but the Yaris is sold in the US as well.
Not knowing the specifics for your truck are (2 wd, 4 wd, engine size, reg cab, extended or crew, gear ratio etc)
I'm giving you a ball park on the towing limits, they'll be within 500# of the towing limit.
2.8 L 5500-6000#
3.5L automatic transmission w/3:73 gears 8000-8500#
3.5 L automatic transmission w/3:73 gears 8500-9000#
I have recently bought a vitz/ yaris 2006 imported from Japan. Local dealers/ automobile mechanics have told me that S is for Speed i.e. you should ideally shift to this one when you cross 100 kmph. Another view on this ''S'' gear is for sporty driving overall when you can use a surge of fuel for higher acceleration.
'B' as I have been told is for driving in hilly areas on rather steep & continous inclines & declines.
Please do note that this information is from off the streets & cannot be authenticated from any toyota mannual yet. I with Toyota would itself offer english translationso of owner's handbooks online.
The most likely cause is that the wheel speed sensor wire got stretched during disassembly, and needs to be replaced not. If the wires arent disconnected from the hub, or strut during disassembly, they get pulled and yanked and the wires inside stretch to far, but you cant see it because the outside looks ok. Happens all the time.