Section 184 (Automatic Transmission Shift Lever Assembly): Adjustment

WARNING: This page is about a different car, the 2004 Toyota Sienna. However, it is still accessible from the selected car via links, so may be relevant.

INSPECT SHIFT LEVER POSITION
1. When shifting from P to R position only with ignition switch ON and brake pedal, make sure that the shifting lever moves smoothly and can be moderately operated.
2. When starting engine, make sure that the vehicle moves forward when shifting from N to D position and moves rearward when shifting to R position.
ADJUST SHIFT LEVER POSITION
1. Loosen the nut on the control shaft lever.
  
  Fig 1: Loosening Nut On Control Shaft Lever
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002
2. Return the control shaft lever 2 notches to N position.
3. Set the shift lever to N position.
4. Press the shift cable end toward the inner side of the cable by less than 10 N force and then release it before tighten the nut firmly by regular torque.
  Torque: 13 N.m (132.6 kgf.cm, 9.5 ft.lbf)
5. Start the engine and make sure that the vehicle moves forward when shifting the lever from N to D position and moves rearward when shifting it to R position.