Yeah me too. Got a 2016 iA with 23K miles & just two weeks ago showed exactly the same symptoms. Got back to the car after church. Engine starts fine. Put it in drive & just when I start pulling, the whole car starts shaking & won't move forward at all. Even if I press the gas pedal to force it to move, the engine just starts shuddering/shaking very badly & I can hear something like metal to metal banging underneath. Then the engine just dies. Same with putting it in reverse.
Called Toyota Stevens Creek & had it towed to the dealership to get checked out. After two days, diagnostics indicated a solenoid failure in the tranny. They ordered the part & replaced the whole tranny within a week. Car's still under warranty so no charges at all, including the car rental. Car runs fine ever since now. My question is whether or not the tranny they ordered was new, used or remanufactured. It didn't say in the service order. Oh well, see how it goes from hereon.