Transmission or something else?

a lot have done it on here, that's why I ask

 

Somewhere in here there is a thread about corrosion in a junction box that causes the shifter to not correctly report to the ECM what gear the shifter is in. The result is delayed engagement into gear and wierd shifting. Toyota wants something like $2,000 to replace the wiring harness. This is all just stuff I remember reading. Doesn't sound exactly like your problems, but something to consider.

 

The auto trans fluid level needs to be checked at a specific temp. There's a thread somewhere...

This exact symptom has been relieved by topping off the tranny fluid by a bunch of members - other threads out there...

Don't necessarily trust if a dealer told you the tranny fluid level is fine. Learn to check it properly yourself, or find a mechanic you are certain you can trust. Maybe a transmission specialist who drives a Taco?

Best of luck!

 

https://www.tacomaworld.com/threads/how-to-drain-refill-automatic-transmission.63851/

this might help

 

"First thing, disconnect positive and negative battery terminals over night so truck re learns driving. Second thing, do a pan drop on trans. This will show you condition of the fluid, how much material is on the magnets, see if there's any chunks of metal, and it cleans the filter screen. Third thing, make sure fluid level is correct. 5 quarts ought to take care of a pan drop, then needs to be put in temp check mode to get the correct level. There's a thread on this, easy to find. Depending on the findings of the pan drop will tell if the trans has more serious issues.

Also, could be related to dirty intake, ignition, and injectors. To remedy this, replace air filter if dirty, or clean, and not over oil filter, clean the MAF, clean the TB, replace spark plugs with OEM, run can of sea foam on a 1/4 tank of gas for about 50miles, then fill up and another can of sea foam. This should mitigate any ignition related sputtering."

per @Texoma who is the resident central Texas Tacoma Mechanic (TTM)

Hopefully it helps bro!

 

Do you have a 'transmission guy' as a friend?
Could be something inside sticking and that's indy shops bread and butter. Clean 'em out, replace worn bands and friction plates, charge for a rebuild. (and actually it is)

Sometimes you can drop the valve body and fix it yourself. (the sol's. should be on top)

I don't rec'd unless you have a bud come and drink beer while guiding you on the first one.

Edit: I say this only because you're not saying it's slipping, only that it's not going into or coming out of gear properly, that sounds like a sticky valve or shift solenoid to me.....but I'm certainly not an expert on transmissions.

Get a 2nd opinion.