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This shutoff feature is perhaps annoying, but is there for safety and anti-theft. If not, a vehicle once unlocked (and running) can be put in gear by a child, or anyone who enters the vehicle. On the fancy jeeps, the "virtual shifter" and "fob in the car" sensors prevent driving it- this is probably a prudent limitation by Toyota given the traditional shifter. I'd be surprised if they change the current config-