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You probably have a bad ECU. There was a recall on the ECU for all sorts of problems (shutting off, loss communication, erratic shifting,).
Take it to the dealer and have them check and see if your car applies.
Short of an ECU you might have a connection issue at the ECU or at the main junction block (on the drivers side fender area).
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My Toyota list:
1982 Corolla SR-5 Hardtop 5 Speed Manual(R154) 1JZGTE
2005 Corolla CE 5 Speed Manual 1ZZFE
2009 Camry LE 5 Speed Auto 2AZFE
If I helped out in anyway please hit the thanks button on my post  .
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