Check the Owners Manual, under the section Customization - Customizable Features.
"Your vehicle includes a variety of electronic features that can be personalized to suit your preferences. Programming these preferences requires specialized equipment and may be performed by your Toyota dealer."
"Some function settings are changed simultaneously with other functions
being customized. Contact your Toyota dealer for further details."
Among the settings that can be customized (i.e., be turned off) include the panic function (at least for wireless remote control keys, but maybe not for the smart key system).