2003 4runner locks up

[Rayh78]

Have a 2003 4runner sport model, V8 4x4
40K miles, drive my tundra work truck most of the time.
Anyway a few times a year I get in and release park brake, put in gear and it acts like the rear end in locked up.
Keep in garage but I can give it 50% of the gas pedal and will not move.
This does seem to happen after I wash it, put in the garage and dont drive it for a 2 or 3 days.
Last time in the shop they looked it over for this problem and could not find anything but did adjust the parking brake.
When this still happens it will not go in forward or reverse. Then I try engageing and disengageing parking brake and then put the gear lever back in park then move to drive and it will go after a slight clunk. The sound like I used to have on a car once that had a bad U joint.
Does not happen enough for a shop to duplicate. And I cant tell if transmission, rearend or what it is
Any ideas
thanks

[eric-the-red]

Sounds like the parking brake isn't releasing. Next time you wash it and don't drive for a few days leave the parking brake off and see if you have the same problem. If it turns out to be the parking brake I would replace the linkages at the rear wheels. In my experience once they start to stick cleaning and lubing is a very temporary fix.