Transmission cold weather

My Tacoma 2018, 125 000 km. Is giving me a hard time when cold, it take at least 5 minutes before i can use it, the transmission does not move to any gear. Çan it be fixed, and I have this code

 

And the code says what? I only read English so translation might help a bit here

 

Improper gear shift selection. It could be anything from low trans fluid to a bad solenoid. Have you checked or changed the trans fluid recently? Can you pull any codes from the obd2 port?

 

My truck speaks that Spanglish. With that San Antonio accent. Looks like you got that red, and bleu version.

 

Won't shift from park with super stiff shifter? Go under truck near top center of transmission and find the neutral safety switch. If I recall its by two cooling lines on the drivers side. Spray it and the linkages thoroughly with krown or fluid film. I've fixed this problem multiple times on both 2nd and 3rd gens doing this. Trucks that would not shift out of park. Wont hurt anything. Worst case its some rustproofing in a tight spot. Do this every year or two if your truck sees salt and its a non issue. These parts see alot of corrosion and are in a spot that doesn't get washed off in car washes or from rain etc. We have salt and brine on our roads here it's a common issue.