According to the Japanese manufacturer, affected vehicles may experience an issue where the related gear position (P,R,N,D) may "not match the expected vehicle behaviour" - for example, the driver may be unable to shift out of Park, or shift out of Drive or Reverse.
The company says the inability to shift out of Park, Drive or Reverse positions could increase the risk of an accident.
Owners of the recalled vehicles will be contacted by Toyota Australia via mail, inviting them to make an appointment with their local dealer to have the recall work carried out free of charge.
Repairs are expected to take around 4 hours.
For more information, customers can contact Toyota customer care on 1800 869 682.