My 97 Avalon has done the above 2X, with the addition of randomly not being able to get the car out of Park without pumping the brake pedal several times; I can feel the brake pedal "sink" finally and I'm able to put the car in gear. Very random situation.
Have your ABS system scaned for codes(intermtent code) as for the car not goin out of park when applying the brake,there is a level or linkage that works as a safety,this linkage may need adjustment.the linkeage goes from thr pedal(brake) to the shifter,some of the work thru a selenoid that gets activated when the switch is on.
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