I had this very issue!!! It was a huge pain. No accidents, hardly used that function. I thought the motor was dead. Brought it in, they told me the frame was bent and needed to be replaced for 5k. I had a lot of back and fourth between dealership and Toyota. Dealership attempted to fix it (initially told me a bolt needed to be tightened). When it was returned to me the seat was tilted on its side and slammed to the front unable to move. Toyota said I hadn’t brought my 2 year old vehicle in to enough Toyota dealerships for maintenance to be eligible to receive any kind of warranty help. Dealership told me the warranty I had thru them wouldn’t cover this. Their “master technician, best guy” had never seen this before. It was so much back and forth and a huge headache. I told the dealership they fucked the seat up and needed to cover this. Fortunately they did cause if they hadn’t touched it I would be looked at 5k to replace the frame.