Inner CV joints need to change length as the suspension and steering systems go through their motions. There is a spring inside the inner joint that pushes the housing into the transmission and lets it change length freely. If that spring breaks, the housing is free to slide out and the splines will disengage. To check the spring, you should need both hands to force the inner joint to collapse, then it should spring back out with fairly hard pressure when you let go of it. You can also remove the axle nut, then push the outer CV joint toward the transmission with heavy thumb pressure. The joint must spring back when you release it. If it does not, that spring is missing or broken.
(Never loosen that axle nut unless the vehicle is jacked up so no weight is on the wheel bearing. Failure to do that will instantly make that bearing noisy).
Check with the dealer for that spring. If it is not available through Toyota, you can find them at a Chrysler dealer's parts department for three bucks.
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Sunday, April 1st, 2018 AT 6:23 PM