Found it in the manual:
"The vehicle is equipped with a feature that automatically shuts off the
engine when the shift lever is in P with the engine running for an extended
period.
●The engine will automatically shut off after approximately 1 hour if it has
been left running while the shift lever is in P.
●The timer for the automatic engine shut off feature will reset if the brake
pedal is depressed or if the shift lever is in a position other than P.
●After the vehicle is parked, if the door is locked with the door lock switch
(P. 116) from the inside or the mechanical key (P. 555) from the outside,
the automatic engine shut off feature will be disabled. The timer for the automatic
engine shut off feature will be re-enabled if the driver’s door is
opened."
Looks l like the best way to get around it will be to put the vehicle in neutral and use the parking break. Thanks, Toyota, that will make me safer for sure.
Isn’t the best way just to lock the doors?