How do I free a stuck foot brake?

using only electronic key or the metal key.(feature)
got park assist option?
a no key slot ignition, fails we scant the PCM for cause.

the steering is first. so wheels against curb or hard rock>?
front tires are free of objects?
to unluck it , try both key car came with new
and grab the wheel and move it CCW/CW roughly to free the key.
shifter is in park I guess. try Neutral? step brake
release hand brake, and shift to N
then unlock wheel. this answer is flat ground answer only

the steps are here
Check that the parking brake is set.
Check that the shift lever is set in P.
Sit in the driver's seat and firmly depress the brake pedal.
The "ENGINE START STOP" switch indicator turns green.
Pressthe"ENGINESTART
STOP" switch
if steering lock fails the books states

The "ENGINE START STOP" switch indica-
tor will flash in green and a message will be
shown on the multi-information display. Press
the "ENGINE START STOP" switch again
while turning the steering wheel left and right!!
read page 137

https://assets.sia.toyota.com/publications/en/om-s/OM53839U/pdf/OM53839U.pdf

There are many different lock brakes... I would look at where it hinges to and start from there.... maybe it's sticking...

Have you tried applying foot brake before releasing park brake. You will need a good battery to release the brake with ignition on. Also you need to depress footbrake to move shift lever from PARK

All indications of a bad neutral safety switch. It's a safety feature designed to prevent you from shifting from Park without your foot being on the brake. If the switch is bad, the car can't sense your foot on the brake to allow you to shift it from Park.

The only thing I can think of is that the foot pedal may be slightly stuck and not returning fully up after being depressed. Unplug the foot pedal and check for anything stuck there then give it a good wiggle up and down a few times.

If the floor shift lever wont move out of park, there foot brake lock that prevents it from moving until you depress the brake pedal and pull it out of park. I think the release is vacuum operated so try depressing the brake pedal a few time while trying to release. TerBo

There is a shifter solenoid that prevents it from being shifted out of park without your foot on the brake pedal. The solenoid may be bad or your brake pedal switch may be bad.

Will need the model number for best results, but insure that your parking brake lever is not still engaged. Typically a lever on or below the "dash". You would need to depress the foot brake and at the same time, release the parking brake handle.

put your foot on the brake ,if your brake lights are out the wont wont shift out of park you need a brake switch