Hi there
Sometimes you can have this code pop up if the car had a head battery and you tried to start it. Otherwise even though you aren't having any issues the switch is failing or the wiring for the switch and it will likely need to be adjusted or replaced. Here is some more info on this for you.
P1780 TOYOTA - Park/Neutral Position Switch Malfunction Read more: https://www.autocodes.com/p1780_toyota.html
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