Call Toyota. If they don’t fix it, Lemon Law the vehicle.
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I've fairly well confirmed this is an overheating issue. The system overheats, halts, and the screen freezes until reboot. I can repeat it on an extremely hot day with excessive computer use. I repeated it three times in the last week. Is there anything we can ask Toyota to do about it? I don't know.
Edit to add: sometimes, the system will halt, screen will freeze, then minutes later the GPS will continue talking and the screen behind the steering wheel will continue updating but the dash screen is still frozen. It may be rebooting and rebuilding connections but not rebuilding the dash screen connection for some reason.