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On some transmissions Toyota uses a plastic bushing that actuates the shift rod in and out of the transmission. It sits on top of the shift rod (that slides in and out) and is held in place by a pivoting arm that is bolted to the transmission. The upper shift cable attaches to the pivoting arm, you might be able to see it from above.
The pivot arm that moves the transmission rod in and out should have just a very small amount of free play before the rod moves.
If that bushing is missing it might be your problem. It's square on the outside with a round hole in the middle about 1/4" thick.
Good luck.
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