When we first got our 2016 SR5 and not used to all the steering wheel controls, I accidently hit the "Mode/Hold" button on the steering wheel. The audio shut off and I didn't know what had happened, nor which button I had hit. I shut off the vehicle and after spending a lot of time reading the Nav/Multimedia manual I found what all the switches do and figured out what I had done by accident: I hit the MUTE button. Look up Mode/Hold switch function (page 114 in my 2016 manual) in your Nav/Multimedia Manual as I am sure the page numbers are different for your 2021

Not saying this is what you did, but your experience sounds like what happened to me. Just thought I would suggest this possibility. Hope this helps.