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How many miles are on it? Could be a bad thermostat, water pump, clogged radiator or heater core or stuck heater controls, or leak. Does it run hot or does it take a really long time to warm up? Either could indicate a bad thermostat. You need a pro to inspect it soon before anything worse happens.
Unless you are still under an extended warranty, an independent shop may be less expensive than a dealer. This engine etc is used in hundreds of thousands of Toyota & Lexus vehicles and almost every independent shop knows how to work on them.
Just cold air, really annoying this morning a 39 degrees here in Michigan this AM. Thought about stuck open thermostat. Only 47, 500 miles. Like new really. Surprised at this. Don’t drive it much, sits in garage. Maybe a heater control valve possibly? Hoping one of these two.
Modern thermostats are supposedly designed to fail in the open position as this greatly reduced engine failure due to overheating. I now vote for the blend door actuator problem.