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First check the fluid level, if its low add some asap! If the fluid level is fine, look at the fluid is it dark or burnt smelling, feel it does it have metal shavings in it?

It may be worth your while to get a transmission filter change and a flush out of the system. Flushing is different that just a fluid change, it pushes fluid thru the system to help clean it out. If this doesnt help the reverse clutch inside the transmission is likely broken and in need of professional replacement, which is usually more expensive than a new transmission(from a junk yard)

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Q: Why would a Toyota automatic transmission fail to shift into reverse?
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