Alaskans, Canadians, and northern 48 state US owners that face sub-freezing weather, take note. 2006-2009 Prius: IG1 relay may freeze up when temperature drops below 14 degrees F (-10 degrees C). The symptoms are that multiple warning lights will appear and the car will not shift from P to D. Accessories may not work. The solution is to install a new IG1 relay, which has a different part number.
The replacement part retails $65. I am way beyond 36 months / 36k miles coverage. I have never gotten multiple warning light nor an issue with shifting from P to D. However, I was unable to press radio related buttons. Even the radio power button did not work. I was able to operate from the steering wheel buttons. After a couple of miles they were all fine. I have experience this only once and never since then.
If the problem returned, a short-term solution might be to strike the instrument panel above your left knee (when sitting in the driver's seat) - maybe that will jog IG1 into working!