My S-500 rear wheel drive will not come out of park. What is the problem ?

If it is a rear wheel drive, firmly chock the front wheels, release the parking brake and then jack one rear wheel off the ground to remove pressure on the transmission. You should be able to take it out of park.
Don't forget to reapply the parking brake...

you should check the park brake cable please note that the rav4 uses a disc brake for driving but has internal brake shoes for parking/emergency braking they are located insider the disc

Depends on front wheel or rear wheel drive, if it is Front wheel drive it is under the shift linkage on top of the transmission, have someone shift the car while you look under the hood, if it is rear wheel drive it is one of two places, either at the bottom of the steering column or on the side of the transmission that one looks like a cigarette lighter (that size)

If your parking brake is too loose or is not properly adjusted, you may encounter problems while parking, positioning and driving your car. Most of the time, car owners would send their car to a mechanic in order to fix and tighten the parking brake. However, you can actually skip this step and adjust your parking brake yourself. When your car starts to slip on a hill in its park position, you need to start tightening the parking brake.1 Remove the car's center console cover placed around your parking brake level inside your car. This is found between the seat of the driver and the front passenger.2 Use your wrench to turn its adjuster nut found at the end of your parking brake's cable rod. Loosen the adjuster nut with your wrench, while making sure that it does not come off at your parking brake cable rod's end.3 Raise your car rear wheels using your jack, and use your jack stands to support both its rear wheels.4 Pull up your parking brake handle up to two clicks or notches. Tighten your adjuster nut until you feel a slight resistance on your rear wheels whenever you spin them.5 Release your parking brake lever. Check and make sure that your rear wheels are still able to spin freely and without any resistance.6 Pull up on your parking brake lever up to three to five clicks or notches, while making sure that your car's rear wheels are not turning at all.7 Lower the car by adjusting your jack, and remove your jack stands from your car's rear wheels.

The truck is in park, this means the parking pawl is engaged to keep the wheels
from moving and it locks the transmission/ driveshaft. Try putting it in neutral instead.

Sounds like parking brake is stuck. You can try and pull apart yourself or have someone look into it.

YOU NEED TO ADJUST REAR PARKING BRAKE AT THE LEVER.FIRST OF ALL YOU NEED TO BLOCK FRONT WHEELS.THEN RAISE THE REAR OF THE VECHICLE.SUPPORT WITH JACK STANDS.MAKE SURE YOU ARE ON HARD LEVEL SOLID GROUND WHEN USING JACK STANDS.AFTER RAISING THE CAR SET PARKING BRAKE 1 CLICK TOWARD ENGAGEMENT.REMOVE FLOOR CONSOLE.TIGHTEN THE ADJUSTING NUT UNTIL THE PARKING BRAKES DRAG SLIGHTLY WHEN THE REAR WHEELS ARE TURNED.RELEASE THE PARKING BRAKE COMPLETELY.CHECK IG PARKING BRAKES DRAG WHEN REAR WHEELS ARE TURNED.READJUST IT NECESSARY UNTIL THERE IS NO BRAKE DRAG FROM THE PARKING BRAKES.

weird this because two wheel drive is rear drive only??? wonder if vehicle has a diff lock and something is wrong with this when 4wd is engaged

Its either the speed sensor on the rear differential or your steering wheel is all the way down pinching a wire in the harness. I have had both problems. Raise the steering wheel and if that does not fix it then its the speed sensor(might be called something else) but it is on the rear diff.

if both rear wheels are off the ground, yes. note that they turn in opposite directions.