Does Automatic shifter need adjusted??

I have an 05 pre-runner V6 automatic. When I go from D to 4 the 4 doesn't engage sometimes. I have to knock on the shifter and it will go in and out. I can see the "4" light on the shifter and dash flicker and it matches up with what i feel regarding the gear.
L, 2 ,3 are all ok and seem to hold their gear.

Is there an adjuster for this? Is the wire stretched?

 

If the engine is cold when you're experiencing this, then this is normal behavior. When the engine is cold, the transmission will not go into 5th gear. once the engine has been warmed up enough, 5th will kick in. once this happens, you'll notice when you shift into "4".

 

Its not the actual gear itsself. Its the shifter stick not engaging. It happens hot or cold. While sitting at a light it does not go in sometimes. The light just goes out until I knock the shifter on the top, then the 4 light lights up.

 

Can someone else check their automatic gear shift and test if it goes into "4" and stays engaged once you put it in "4" and tap/knock on the shifter? Or is it only mine?