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Bunker Hill, WV
CHECK and TEST ALL fuses and connections ESPECIALLY the battery posts!! REMOVE and clean insides scrape off corrosion and re-try.Post results.
Lock cylinder failed? How suddenly did this happen? Has it been gradually getting worse?
LIVE data , scan & watch spark advance. --Is the check engine light on? I'm guessing the timing is off a tooth.
SERIOUSLY....If you open the hood , then have someone start the car and you watch in the engine compartment , does the noise happen when the fans are on? Turn A/C off then on---see if a tool was left under the hood and dropped around the fan. Had that happen on an Accord---came from a body shop , pliers fell down and intermittently were hitting the fan on drivers side-sounded bad , was kinda bad , cause it damaged the fan blade which had to be replaced , but fortunately didn't get close enough to radiator. IF really concerned , and this symptom was part of why you had it at the dealer in the first place , I would bring it back and ask.
What 'module' .......nevermind.......???
Under what conditions? Still , when shifting from park to reverse or drive? While rolling? What speeds? On turns worse?.............
Check your brake lights! NO , Toyota (and all others , have certain features designed in) decided that if it doesn't see the brake pedal depressed , when attempting to take the car out of park(like when parents leave little kids in the front seat of a running car-that's kinda what got this feature started I believe) it won't let it out of park. IT is a SAFETY feature-not a problem. The problem occurs when a switch , wiring , or PCM goes bad. AGAIN , check your brake lights. Switch can be tested , also fuse (if that's the case , you should have some other inoperative items) and wiring from switch to PCM AND switch to brake lights....ALL can be tested and verified , BEFORE parts are bought. Have fun! ..Drive safely.
Did you check the timing belt? Sounds like it stripped , jumped a few teeth and bent a bunch of valves.....just a guess , but checking might save some time .
Any buzzing noises happening when it does that? Do you feel anything else , like feedback in brake or gas pedal?