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Hand brake failure

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Hi guys. 

My car started playing up recently as the release parking brake light has come up. I got the AA to come n he did reset it but later same problem again. I can't drive as the brakes don't release. I'm stuck and confused. Anyone who had the same experience you have any advice?? 

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You need to find a Toyota specialist who knows about electronic parking brake (EPB). Then with the right diagnostic find out what is the real cause. Also inspect the rear brakes for seized piston or caliper sliders, and badly installed rear brakes after a brake pad and disc replacement. 
I have the manual version of your car, so can't really say if what other factors could be involved.

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