I don't see a way to configure it in the manual. I then tried my 2008 instructions and it doesn't seem to work.

I'd like to enable the locking when driving >12mph, but disable the automatic unlocking when you shift into Park.

 

If it's possible to do with the stock system you would need access to Toyota's Techstream software. Alternately you can just by an aftermarket alarm and enable the autolock feature.

 

Thanks Greg; I'll see if they will do it for me at the next oil change.