Toyota Repair: 2002 Toyota Forerunner, toyota forerunner, precise diagnosis

Question
I just left dinner and my forerunner check engine light popped on...when I
looked at the dashboard both my drive light and reverse light were lit up and I
can't exceed 22 MPH right now.  Thoughts?

Answer
The first step in diagnosing this would be to find out what the diagnostic trouble code(DTC) stored in the computer is, this can be done by connecting a diagnostic scantool to the onboard computer,the trouble codes will indicate the areas where the trouble is located, a more precise diagnosis can then be made following diagnostic procedures. Let me know if you need assistance after diagnosing.