Take of the ECM and send to any vendor on ebay for a rebuild. Cost less than $200 to do everything. I did this for a friend last year. It is easier than you think.
http://www.ebay.com/itm/01-02-03-TOYOTA-RAV-4-ECU-ECM-REBUILD-REPAIR-CURES-TRANSMISSION-SHIFT-ISSUES-/110754414460?pt=Automotive_Services&vxp=mtr&hash=item19c97a3f7c
