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Partially broken "U"/"Y" white plastic shifter position-selector switch that only goes with the shifter when you move it from L to D and vice versa.
Two solutions:
1. Disassemble the bezel and the top part of the shifter assembly including the ****, the black plastic (covering the path where the shifter travels), etc.. Peer down and look for the broken U or Y shape white plastic piece, it should be in the 4-D area of the track. The broken switch will look like half of the letter U or an opposite-facing letter J -- get the picture? All you have to do is flick this switch to the right (-->) -- this will now tell the transmission that the selector is in the D position (w/c is gears 1 thru 5) when you start the car up later. The only downside to this is that you won't be able to use 4 to L anymore without getting stuck in 4 and disassembling the whole thing again.
2. Go to the stealership and they will gladly replace the whole assembly for $$$$$$ which is a mistake on Toyota/Lexus's part since it's more of a manufacturing defect than the fault of the owner.
I considered taking everything apart and trying to replace the white "Y" piece... Then, laziness took hold, and I used 2 part apoxy and a section of a plastic bic pen. I just filled the end of the pen with apoxy and slid it over the remaining part of the "Y".. Works like a charm!!
That's actually a very good idea. I would have taken a step further by carving a little notch near the end of the broken arm before inserting the pen. That way, the epoxy has another foothold just in case it's liable to slip off. But that's just me nitpicking.