Originally Posted by AuSeeker

What year and is it a Limited, SR5, or Sport Edition?

The actuator for that is called "Mode" and is most likely the issue, it is located behind the glovebox, there are other actuators back in there as well so it's important to find the correct one, once you drop the glove box out of the way you should be able to look up in there as you change the "modes" and see which one is moving or trying to move or making noise, it maybe that the arm on the actuator has slipped out of sync with the rest of the actuator and can be carefully slipped back in place or it shot and needs replacing, these actuators are not fun to swap out because of the tight space, but it is doable as a DIY job, there are plenty of writeups on the forum and probably videos on YouTube as well.