seached and couldnt find anything, but every time I park lately the shifter would get stuck and not shift until i turn the wheel a couple of times. Does anyone else have this problem?

 

Might ask at the Toyotanation website, more members, etc.

In case of failure to unlock, look on center trans shift console where the gear indicator number/letters. There should be a small plastic cover. When the cover is removed a screw driver, etc can be inserted to push a button down. Pushing the button down will unlock the shifter manually. The owners manual may have something on this.