Clicking Sounds shifting into drive from reverse on uphill incline

I have a 2021 stock 4x4 Off-Road with 73K miles recently purchase Toyota certified. I was pulling out of parking lot that had a significant uphill incline and after backing up in reverse to get out of parking spot and shifting into drive on a significant uphill incline there was a clicking sound like it was trying to get into gear. I paused, backed up to a more flat spot, put in drive and it worked. Seems to only happen when I am on incline going into drive. This was in 2wd. One time when it happened I just pushed lightly on the accelerator and it seemed to "catch" and go into drive and I was just fine. No warning lights, just wondering if this is a normal behavior and is supposed to happen to protect the transmission or if there is something that needs to be done. I have been reading about "torque converter" issues, but what I am reading does not quite seem like what I am experiencing. Any thoughts or suggestions?

Regards,
Eric