There is a small red button just in front of the P position, this allows you to move the selector without having the engine started.
Is yours a prado with lsd? If you can jack both wheels up you can check the lsd is working. I found that I had to jack both up in order to get one to spin, but maybe I was doing something wrong.......
Glad you know about the cog, I spent hours battering my discs with a 4lb hammer before I asked here.......
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