Toyota Sienna 2021 message "Parking Support Brake Malfunction Visit Your Dealer

Pulling into parking lot spot on very slight uphill grade. Tried to apply pedal brake but car kept rolling forward about 6ft over curb and into wall; slow speed impact damage to front end. Message annunciation said " Parking Support brake Malfunction Visit Your Dealer. Towed on flatbed to dealer. Tow truck driver loading car on flatbed noted brake pedal seemed “loose.” Car still under warranty; has 28,800 mi. No TSB noted for this model Toyota. No ICS malfunction annunciated. Toyota Nation notes several parking brake malfunctions on a range of Toyota models over last 4 years, including major recall in 2022.
Dealer said he cannot inspect or fix parking break or ICS because of potential liability He vectored us to Toyota legal dept. They will hire an independent inspector who will download all available data over car’s history but only after we sign a legal release. They say it may take two months to make an evaluation and repair. Dealer service manager has declined to offer a loaner or rental during all this time despite car being under warranty Safety manager warned it is unsafe to drive. We have filed a safety complaint with with NHTSB but have not heard back yet. Car still on dealers lot.
Where do we go from here???

resolved.
Given that the dealer has directed you towards Toyota’s legal department and the complications surrounding the release form and potential liability, I would strongly advise you to consult with a lawyer. Specifically, a lawyer who specializes in automotive or consumer rights would be beneficial. They can provide guidance on how to navigate the situation, ensuring your rights and interests are protected.
Additionally, while waiting for a response from the NHTSA, ensure you have documented everything - from the incident details, dealer interactions, any communications with Toyota, photographs of the damage, and any related paperwork. This documentation can be vital in discussions with Toyota, legal proceedings, or any other actions you may take in the future.
Lastly, regarding the loaner or rental car, while you pursue legal advice, you might want to consider temporarily renting a vehicle for daily use or utilizing public transportation if feasible in your area. Ensure you keep receipts or records if you choose to rent, as these could be useful in potential reimbursement claims.
I genuinely hope the situation resolves quickly and in your favor. Keep up posted.