what we need is a diagnostic scan with a Toyota scanner or equivalent to read , the antitheft module and retrieve the fault codes to see what failed
the key, the antenna receiver , the door switch, hood switch, the module itself etc...
it could be in the door lock module actuators also .
But for now you can try this in case it will reset for now
Master reset Procedure
1- Disconnect Battery Cables ( Negative & Positive Cables )
2- Hold cables Together for 60 secs ,then let go
3- Wait 15 minutes
4- Make sure all doors are closed
5- Reconnect battery Cables
6- Lock & unlock the vehicles using the key from driver door side (if you have a key fob with no blade key, just lock & unlock using the key fob buttons)
7- Enter the vehicle and attempt to start
Please let me know
ASE Certified Technician