I had a 89 or 90 camry with a bright yellow brake light control box in the back that was bad. It would make the brake light switch go out under the pedal then same problem with the shifter..
I forget what it was called but it was bright yellow and the size of a pack of cigarettes..repeated havoc till I found that in the circuit and swapped it
I had this happen in the same gen Camry - a cold solder joint in the board of the 'brake light computer', high up inside the trunk on the left side. Once soldered, it worked fine again.
Colo Springs, CO
'78 FJ40, '89 FJ62, '98 4Runner