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Try hitting eject / power cycling the headunit a few times. If that doesn't work - disconnect the negative battery cable - sort of like "cold reboot" - headunit will start cycling the tray as soon as power is reconnected (note: if you have an alarm system - it may not like that). Works like a charm on the 6-disk changer in my Matrix.
Worse comes to worse - like XR2003 mentioned, take it to the dealership or audio shop. If you were planning to replace it - pull the headunit out and have at it with a screwdriver, etc. to yank the CD out.
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2002 Corolla S, 1.8L 1ZZ-FE VVT-i
2003 Matrix XRS, 1.8L 2ZZ-GE, VVTL-i (RIP)
2009 Matrix XRS, 2.4L 2AZ-FE VVT-i
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