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It sounds like you have a bad actuator. This is attached to the starter and has a solonoid that pushes the starter motor gears into the engine gear. If the solonoid is faulty this may happen. Also check alignment of the same.
it's under the battery. see instructions below for removing.
REMOVAL & INSTALLATION
Disconnect the cable from the negative terminal of the battery.
On some early models with cruise control, you may have to remove the battery.
Also on some models with cruise control, remove the actuator cover and disconnect the wiring harness. Remove the three bolts and then lift out the cruise control actuator. Remove the bracket from beneath the actuator and put aside.
Peel the rubber boot away and remove the nut and disconnect the negative battery cable from the magnetic switch terminal on the starter. Disconnect the electrical connector also located on the magnetic switch.
Fig. Remove the these two starter mounting bolts . . .
Support the starter by hand and remove the two mounting bolts.
Replacing the starter on a 96 Avalon is incredibly simple. I did it in the parking lot of a store. Just bring your ratchet set and you will be good to go. I took out the old starter, had a friend bring me to autozone and I bought a new one. Its easy to locate, easy to remove and easy to install.
There are two large studs on the solenoid on the starter,the cable bolts to the one on top,farthest away from the starter motor,the other one if you will look,connects to the starter motor,so the cable bolts to the one with out anything on it.
Sounds like a battery problem. The clicking sound is usually the starter solenoid trying to engage the starter but not enough voltage or amps. There has to be enough power or you will not be able to move shifter assuming you pushed the brake pedal down while trying to shift out of park. And, it hasn't been noted whether it is a manual or auto trans.
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