tacoma out of 4 low

He might need to let it roll slowly (less than 5 MPH) while working the front tires back and forth to release the bind on the driveline. If that doesn't work, dealer time.
 
If it doesnt come out if you're rolling back and forth while trying to shift it out then yea...its time to get looked at
 
seems like you had to hold the brake,in neutral, to go between lo and high. had one in a while back and it left me scatchin my head for a little while
 
check to see if the floor mat is in the way of the pedal
 
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