Also known as “dying seagull screeching” - see toyota-4runner.org https://www.toyota-4runner.org/343635...
What to do / how to fix? Replace whole unit ($2200). Too much!
How to WORKAROUND???
1. Turn ignition key ON (but don't start the engine),
2. Listen to electric motor sound tone lowers a bit (or just allow it to work for around 30 seconds)
3. Turn ignition key OFF
4. Wait a minute or two
5. Turn ignition key ON and find electric motor not engaged. Ready! Now you can start the engine.