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I'm not a car mechanic, but, it sounds like you might want to check the fuse to the ignition switch, and, if that fails, it might be a problem with the Start Safety Switch on the transmission. Good luck.
Wrong, it couldn't be the battery because the battery is basically used to keep track of the time and make sure your car starts, after it does the battery basically charges and runs like the radio etc. The fuel filter would be more likely, but my money's on the fuel pump itself. You might also have an engine coil firing out of order, which would cause the shaking and an occasional **** from the car.
-Get a tune up. -Get a machine hooked up to your car by a mechanic (full systems check) -Check the transmission fluid. -Tell the mechanic that it's probably the fuel pump. The fuel pump starts going bad, and then your gas gauge starts fluctuating, and your engine starts struggling to get to higher RPM's because it can't **** fuel out of your tank fast enough.
All in all to get this baby back on the road at full force could run you 200 to around 500 dollars. Then depending on the mechanic the labor is more.
Tune up (100 bucks) transmission fluid change(20-50 bucks) Full systems check (50-80 bucks) fuel pump(150 bucks) then the labor for everything would be anywhere between 150-300.
Most likely the "reaction shell" teeth are stripped. This is a common failure in the 4L60E. The transmission will need to be removed, and the reaction shell replaced. Any reputable transmission shop should be able to replace the reaction shell. They may advise you that your transmission needs to be rebuilt. Either way, it is somewhat of a costly repair.
I would request that the battery be replaced regardless. Ive replaced many a Prius battery that is too weak to start the car, and by the time it gets to the shop its charged enough to pass a test. Dont try for any stronger batteries, it is a special glass matt design and shouldnt be replaced with anything non toyota. The code is probably because the voltage is too low to run certain computers, and unlock the transmission. I would probably stop leaving the key in or near the car, that certainly doesnt help.