Contact your Dealer first. I don't care for my dealer's service department. I am a 40 year ASE Master and unfortunately they are clueless. Need to get the regional rep involved I guess. I just don't have the time right now.
I think we all need to get together and present our findings to Toyota Corporate. I have submitted a claim for investigation to NHTSA for the creeping issue a couple of days ago as it is a safety issue.