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Your Humble Administrator
2008 RAV4 Limited V6
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You could try the "brake dance" which works on the 4.3:

1. Shifter: PARK --- Parking brake: OFF --- Engine: OFF.
2. Engine: START
3. Parking brake: ON
4. Brake pedal: PUMP TWICE (just enough to turn on the stop lights)
5. Parking brake: OFF
6. Brake pedal: ON
7. Parking brake: PUMP TWICE (pull and release, while holding brake pedal).
8. Brake pedal: OFF
9. Parking brake: ON
10. Brake pedal: PUMP TWICE

When the "Skidding Car" light is displayed in the multifunction display, you know that you have successfully completed the procedure.
 
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