Have Toyota Questions? Ask a Mechanic for Answers ASAP
Welcome, I'm Chris (aka Moose) I'm an independent contractor here at Just Answer.
Your truck has an ignition lock solenoid that is energized when shifted to park to allow key removal. Your symptoms indicate the solenoid is weak and not moving allowing the key to be removed. Temperature can effect this solenoids operation when it gets weak. Let me know if you have a multimeter and console or column shifter if you want to diagnose and repair this yourself.
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