Surprisingly, a lot of people don’t know how. It’s a button, not a key, and, if the car is in motion, you have to hold it in for several seconds. Plus, there’s an over-ride so you can’t shift gears into reverse or neutral while the car is accelerating. The car has been compared to the HAL-9000.
All cars make it difficult or impossible to shift into reverse while driving (for obvious—transmission-destroying reasons).
However, I really fail to believe Toyotas or any other car cannot be shifted into neutral while driving. That’s part of the purpose of a neutral in the first place—as a safety.