Higher RPM and shaky on startup

2020 Tacoma TRD Sport with 58k miles. When I first turn the vehicle on the RPMs hover around 1200 and it seems a bit shaky. Once I drop it in reverse it almost leaps backwards. The external temp is not that cold (60s F). Is this normal?

Also, I cant get a straight answer on changing the transmission fluid. I called 2 Toyota dealerships and one said its a sealed transmission and you should not flush/change it and another said I should. What's the story here?

 

I'd start with a cleaning of the MAF and butterfly valve of the throttle body if that has not been done recently. Just remember to get dedicated MAF cleaner for the MAF and there is dedicated cleaners for the throttle body as well.

I have a manual, so I can't answer from experience on the transmission fluid question; but have read many threads on here of people accidentally draining their auto trans on accident when changing the oil lol Not a sealed transmission. If I was you I would definitely have at least a drain and fill done. Flush would be dealer's choice, but generally advised against.

 

Sounds about right if the engine is not warmed up. Every fuel injected vehicle I have owned for the past few decades have done this. I usually let it idle down before dropping it in gear, unless it's cold out (below freezing) and it's just easier to drive it warm.

I think Toyota's actual claim is; it's sealed and shouldn't need service. Along with many, I do the occasional drain and fill early and will continue every 30-40k miles.
https://www.tacomaworld.com/threads/3rd-gen-maintenance-maps-get-300k-miles.789809/

 

Perfectly normal for a high idle on startup, it's a warmup strategy used on pretty much every fuel injected engine since the dawn of fuel injection. Some engines idle faster than others when cold but it's always been a thing.

Manufacturers do everything they can to get things up to operating temp as quickly as possible to meet emissions plus many engines run pretty poorly at low speed when cold.

 

High cold rpm normal shaky not try what @Rednecktacoma22 said sounds like a good start to me.

 

You will never get a straight answer on this as there are many opinions and nothing is released from Toyota. While technically it isn't a sealed transmission, there aren't open ports where debris can easily enter the fluid column. Many dealers will push for a flush as it is easy money for them while others will be reluctant because as the fluid is changed, the abrasive characteristics are changed and the truck can drive differently than new. This can either be good or bad...depending on your experience. With your mileage, I would get the transmission serviced but it doesn't have to be at the dealer. A shop with the proper equipment to measure trans temp can perform a drain and fill if you prefer.

 

The transmission is not sealed. You can remove the pan and service it as well with a new filter.
Try and drain and fill. Drain out the pan and add 3.1 liters (3.3qts roughly). Doing the transmission check procedure resulted in a low fluid fill last time I did it. I wouldn’t recommend. 3.1L should come out and that’s what should go in by the books.