It happened to me a while back and it is a real notification that keeps coming back unless it is addressed. Somewhere along the line you did, or now need to, create a pin (6 digits I think it is) that lets you back into the Infotainment system. It communicates with you through your the screen & your phone and the whole episode takes a while. I forget the details but I do remember being on a trip about a year ago and getting locked out of much of the navigation (maps ect.) and entertainment and other stuff Toyota sends you through that screen. While I do not remember the specifics of it I do remember sitting in a parking lot for about 45 minutes, a long way away from home, trying to deal with it as prompts came through the phone & screen. It was painful and totally a drag. But I got through it and the only real advice I can give you is don't forget the pin that you create --- it will ask you again some time in the future & when you least expect it. Good Luck!
Tha night this first happened I went into the app and added a new pin. Yesterday I only drive for about 15 min and it seemed OK. I did get 1 quick message to say "updating settings' I have to drive it for about 4 hrs tomorrow so that will be a test to see if the issue is gone.
Enter your existing PIN: Type in the 6-digit User Profile PIN that you or your dealership set up when you first configured the vehicle's multimedia profile. [1, 2]
Reset your PIN via the Toyota App: If you forgot or never set up the PIN, open the Toyota App on your smartphone:
Tap the profile/person icon in the upper-right corner.
Select Account.
Go to Security Settings.
Choose Reset PIN (or Set PIN) and follow the prompts to create a new 6-digit code. [1, 2, 3, 4]
Sync to your vehicle: Wait a few moments for the update to register, then enter your newly created 6-digit PIN into the 4Runner's infotainment screen. [1, 2]
Switch to Guest Mode (Temporary Bypass): If you are driving and cannot reset it immediately, go to the Profile section in your car's settings and select Sign out to guest mode to stop the popup. [1]