Something dangling from underneath my car

looks like a heat shield. you can straighten it out and refasten probably

 

It’s a plastic panel that is held in place with two different types of fasteners. The hole you see is where a rather large white fastener presses onto a stud. You may have to use a heat gun to flatten the panel out before you can get it to stay in place.

 

Looks more like stamped-aluminum heat shield (aforementioned by @bisco), pretty bent out of shape. Might be one of the plastic fasteners still hanging in there on the bent down portion. That piece has 4 identical plastic fasteners. You can sort out the shield and fastener part no’s at parts.Toyota website, or just get in touch with a dealership parts department.