Had the same problem on RRE200 model year 2016. Checked lift encoder, cables, valves etc all the usual things, followed workshop manual and came to point where it said updates software to latest level so had to get Toyota in to install latest package, ending in (013). They then preceded to spend a month on truck, swapping controllers, checking valves, fitting parts, contacting Sweden for advice. After a month they got it working and said it was due to wear in the Lift chain. True they did adjust the lift chain by about 15mm. The software was updated to latest package but I never got a satisfactory answer to the problem.

One other point, even though the machines were under warranty, Toyota (at least in this part of the world) don't update the software unless you make a specific request to do so. Given the frequency of updates (the latest being--- 014) I would have thought they should be doing as a matter of standard procedure.