In Settings, find “Customize ACC” and toggle that switch to “off.” Now accessory mode will continue after ignition shutoff until you open the door.
Seems like randomly it either won’t connect on startup (even hitting the in-dash start button), or every once in a while disconnect while driving. This happened to me three times in a day in the middle of DFW. Went back to Toyota, and they did a ”hard reset” on the vehicle, but nothing has...