06 tacoma TRD sport automatic trans issue?

Can manually shift it into D and 4, but i cant move the shifter into 3 or 2L?

 

maybe pull the console cover and check the shifter mech, something must be binding, or maybe at transmission cable end there is mud/dirt build up not allowing full range of motion

 

You may need a new neutral safety switch. Mine corroded and made it hard to shift a few years ago. Check on the right side of the transmission case (passenger side). Spray it around the nut in the middle and try shifting it between park an 1st and see if you gain travel. if so pick one up on Ebay.(around 23-70 bucks) Don't try to remove it unless you have a replacement ready. It might fall apart when removing and put your truck on the sidelines until you get a new part.
Good luck,
Dave

 

FWIW.....

Common references:
Right side = Passenger Side
Left side = Driver Side.