Transmission

So I'm new to the forum.
My 2018 TRD off-road is being somewhat difficult.
When going into reverse the automatic transmission has about a 3-second delay and then hits hard. Transmission shifts fine going from park to drive or neutral to drive and shifts perfectly. Everything is working going from two-wheel drive to four-wheel drive high and low. The shifting indicator light on the dash and the gear shift does not light up going into reverse, but does work for park, neutral and drive, also the backup camera and reverse lights do not work (I'm assuming those are all related). With all this going on it shows no transmission codes .
If anyone has had something like this going on with their truck, I could sure use the advice.

 

OP- have you pulled codes yet? Could be the Neutral safety switch(i believe)

https://www.tacomaworld.com/threads/reverse-lights-not-working.804925/ This is a thread i just found, they have some schematics listed and some troubleshooting steps too.

 

I would certainly get it into a shop