I have this exact same issue on my 2019 Rav4 Hybrid Limited (purchased just 2 weeks ago) with the door locks not automatically locking (neither when shifting out of park nor when getting above speed, I have tried both options). I have had *0* other issues with this vehicle and am already at 600mi.
I was very excited to find this thread as it seems like disconnecting the battery for 30min (or so) will potentially fix the problem easily. However, I have a concern...
When I demonstrated this issue to my dealer they first tried to program the feature to "Off" then back to "Shift from P" using the techstream tool. They did this just to see if they could work out the glitch by using the techstream tool rather than just the Entune user interface. When that didn't work they contacted Toyota. After waiting only a couple days (I was surprised it was that quick of a response), the dealer called me and said Toyota has seen this issue and they said the solution is to (keep in mind that this is the dealer service center guy paraphrasing whatever it is they read and then me paraphrasing again from memory!) "...disconnect the battery for 30min, erase ECU memory, re-initializing entire system by re-programming ECU from a clean slate using techstream...". That sounds very extreme/excessive to me.
In any case, here is my specific concern. The #1
reason that I bought this car was for the adaptive cruise and lane tracing features. I do not want to risk having these features broken or somehow screwed up by a tech who doesn't really know what they are doing. So I asked the dealer if anything might happen to the lane tracing during this resetting/re-init procedure and he said they would have to "recalibrate the entire lane tracing sensor system by setting up special targets around the vehicle and running a special calibration program provided by Toyota".
Pg 703 of the user's manual does indeed state that whenever the battery is disconnected that the "Lane Tracing Assist" must be re-initialized. However on pg 267 it only says that you just need to drive in a straight line above 22mph for 5 seconds to reinitialize it. So...what's all this crazy "setting up special targets" stuff that the dealer is talking about?
In all honesty, if there is even a 1% chance of it breaking the lane tracing/adaptive cruise sensor system I'd rather just live without the auto-lock feature.
Am I overthinking this? Am I worried over nothing?
Will disconnecting the battery also erase the few customized settings (I think I had 4 things enabled) that I had the dealer do with techstream earlier where they turned on some non-default features (e.g. windows down with key fob, windows up/down with physical key, etc)? These were specifically features that could only be turned on with techstream and not through the Entune interface or the multi-information display.
Thanks for any advice and thank you to everyone on these forums.