The garage probably hasn't understood from your description that the car isn't driveable.
Contact them again and tell them the car is under warranty, it is not driveable, and you want it fixed or want a replacement car. If they still refuse to come and get it, then tell them you will get a third party to tow it to them and charge them for the towing costs.
If you get no joy from the dealership at that point I would go directdirectly to Toyota.
