My 2004 Toyota Highlander starts normal but will only go a few feet.

Hello, sounds like a concern related to the transmission. Check your transmission fluid to ensure it is full and clean. If not, add fluid (checking the level when the engine and transmission are at operating temperature / warm), and recheck operation. Beyond that, testing will be needed from a trained technician and shop near you. https://repairpal.com/repair-shops/toyota-repair-and-service-in-show-low-arizona