If your car is indeed running when you're attempting to open/close the top at idle, I'd bring it in to the dealer. Sounds like an expensive fix if something is broken when you eventually go out of warranty.
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Me: 2022 Toyota Tacoma SR5 Double-Cab SB
Wifey: 2013 Toyota Highlander Limited AWD
Weekends: 2010 Nissan 370z Roadster
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