TOYOTA 2011 Sienna - Manual (Page 272)

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2-1. Driving procedures
2
Wh
en drivin
g
Automatic transaxle
Select a shift position appropriate for the driving conditions.
■ Shifting the shift lever
Vehicles without a smart key system:
While the engine switch is in the “ON” position, move the
shift lever with the brake pedal depressed.
Vehicles with a smart key system:
While the “ENGINE START STOP” switch is in IGNITION
ON mode, move the shift lever with the brake pedal
depressed.
When shifting the shift lever between P and D, make sure that the
vehicle is completely stopped.