Toyota TACOMA 2010 Quick Reference Manual page 212

Toyota tacoma 2010
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2-4. Using other driving systems
Hill-start assist control is operational when (if equipped)
The shift lever is in the D, 4, 3, 2 (5-speed automatic transmission), D, 3,
2 (4-speed automatic transmission) or L positions.
The brake pedal is not depressed.
Hill-start assist control will not operate when (if equipped)
The shift lever is in the P, R or N positions.
The rear differential is locked.
If the brake system overheats
TRAC and hill-start control will cease operation and a buzzer will sound to
alert the driver. Stop the vehicle in a safe place. (There is no problem with
continuing normal driving.)
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