I had to tow my car to the dealership. i asked them if they would cover this at all. They would not. said there was too many miles on it. I argued saying it is only 4 1/2 years old and the transmission should last longer than that. They want $3500 for a re manufactured transmission so I has it towed to another mechanic who said he could do it for cheaper. When they got in to look at it, the mechanic said that it he had never seen a transmission do that before and that it was obvious there were problems with it from when it was manufactured. I have written a letter to Toyota but seriously doubt I will ever hear back from them.