The reason you change all the tires on an AWD car is due to the way their traction control systems work. The whole “send power to the wheel with traction” thing gets confused when different wheel spins faster/slower.
Although, If you’re using 3 bald tires and one new one you could see unwanted results on any car.

Here’s The manual recommendations:
● Do not mix tires of different makes, models or tread patterns. Also, do not mix tires of remarkably different treadwear.
●Do not use tire sizes other than those recommended by Toyota.
●Do not mix differently constructed tires (radial, bias-belted or bias-ply
tires).
●Do not mix summer, all season and snow tires.
●Do not use tires that have been used on another vehicle.