In my 86 Hilux I can take the key out while driving or whenever. I love that feature! This started at about 200,000 miles. It was especially useful when I lived in Minnesota. I could leave my truck running, and lock it, while I let it warm up.
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Totally 100% agree with the parking brake. I have always used the parking brake since I took home the LC from the dealer in 1995. Just happened this one time..... However, parking brake or not, it is time to find the root cause of the problem/condition and correct immediately.
I'm hearing from other Toyota owners that are experiencing the same condition regardless of year/make/model of their Toyota product. Some have found worn tumblers, others have found fuses. In my case so far, all fuses are good. I will have time this coming weekend to dig in deeper and see what the problem really is. I plan to document with pictures as well.
Thanks to everyone who has commented.

Did you ever figure this out?Not the shift lock ecu. Swapped in a different one and nothing changed.
I think next to to replace the Ignition switch, which I believe includes the key interlock solenoid. 84450 in the pic is the switch assembly. It does show 85432 as the solenoid, but all the pics I've seen of the switch show the solenoid as part of the assembly. My starter turns over more than I'd like, after rebuilding the starter and replacing all the cables, so I'm thinking my switch needs a refresh anyways. Not looking forward to pulling apart the dash again but oh well.
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nope. have a new ignition switch but haven't made the time to install itDid you ever figure this out?
To be honest I was disappointed that I couldn't pull the key out of the 80 while it was running to run over to the other vehicle and start it and move it, or run back into the house etc. I got used to that with a couple of older Toyotas I had in the past.Or in the case of flopping your rig and trying to turn it off! This happened last year to a friend in his 1st gen 4runner, light flop and keys fell out of the ignition. Scramble to find your keys with your truck on its side.