02 Tacoma Shift Jump

I have a 02 Taco with auto. Has anyone had issues when shifting to drive? When I shift to drive it tends to have a firm jump in D. Almost like it has too much pressure on the initial shift? RPMs running standard on a typical start up 1000-1500k. When the truck is warm it isn't as bad but still noticeable. Transmission shifts smoothly during driving. Not up to par in regards to this mechanical application. Thanks in advance for any suggestions

 

Your engine RPM,s are far to high at 2500 to be moving the shift lever into any gear .
Should be 800-900 rpm before selecting forward or reverse
Does the idle step down after the truck is warm ?
When was your last engine tune up and throttle body cleaning ?

http://etereman.com/blog/transmission-care/common-problems-found-in-the-toyota-a340e-transmission


https://www.tacomaworld.com/threads...sions-write-up-your-4-speed-automatic.325531/

 

Yes it idles down once warm. True, I may have been mistaken on the idle RPMs but still it's a lot higher than it should be. I'm a new owner if this vehicle and the truck sit for around a year or so before I bought it and cleaned it up. I have not cleaned the throttle body, may look into that. Let me know what I may need to add to the list. Keep in mind I've only had it for 800 miles. So far I've done the following

2002 4wd Auto
119k

Oil change
New plugs, wires
New O2 sensor (Existing check engine light)