how do i fix this and how much would it cost

Hi, my name is Devin. I am an auto repair expert with the Car Genius team here at RepairPal. So sorry to hear you're having trouble with your Tacoma. It sounds like after unplugging your battery, some systems are not working correctly. The first thing to do is to check all of the fuse related to the inoperable systems. Sometimes, when disconnecting the battery, an inadvertent short can cause fuses to blow. The "lane departure not working" message suggests that your vehicle's systems might need recalibration or reinitialization. It may best to have your vehicle checked by a professional to ensure all systems are correctly reset and functioning. If you need more advice, have any other questions about your vehicle, or would like to get connected to a RepairPal Certified shop near you, we have you covered. Give us a call at 877-913-1554, and we will happily help you out!