It sounds like the old days when a solenoid got stuck and the starter motor would not work.
Most likely there could be three reasons for your problem:
1. Gear selector switch on the transmission has poor connections at P and N. (Adjust or replace the selector switch assembly, if it is automatic transmission).
2. Starter motor assembly needs overhauling/ repair.
3. Harness wiring.
Even though if the immobilizer system is armed, the starter should run normally but the car would't start.
SOURCE: toyota avalon 2006 key fob apparently doesn't work
It looks like you have the "Smart Key" (a small rectangular box) that does not look like a traditional key.
What you also have is a dead battery inside the Smart Key.
Look closely at the box; there is a little button on the side. Press it. This will release a small hidden key. After you remove the small key, use a small flat blade screwdriver to pry the case of the box open at the slot provided. Take the unit to a store that sells miniature batteries, and have it replaced. You will NOT have to reprogram it after the battery is changed. The life span of the miniature batteries is roughly 20 months, less if exposed to RFI, like sitting on a TV, a monitor, or other electrical device. The Smart key TRANSMITS all of the time, even when you do not press the buttons. This is why the battery only lasts 18-20 months. Let me know if this fixes your issue..
SOURCE: Toyota Prado V6 4.0L Petrol 2006 will not start
your starter gets its earth when bolted to engine it sounds like you have a short circuit if its clicking it could be the solenoid or the earth strap touching the positive terminal check this first if it does not work we'll go from there.
SOURCE: location of starter motor solenoid in 1988 toyota
starter is on the side of the engine where the transmission meets
just follow the positive battery cable, it's connected to the solenoid
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