Toyota Tacoma Manual page 143

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Parking brake engaged warning buzzer
The buzzer sounds to indicate that parking brake is still engaged (with the
vehicle having reach a speed of 3 mph [5 km/h]).
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Usage in winter time
See "Winter driving tips" for parking brake usage in winter time. (P. 209)
NOTICE
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Before driving
Fully release the parking brake.
Driving the vehicle with the parking brake set will lead to brake components
overheating, which may affect braking performance and increase brake
wear.
2-1. Driving procedures
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