My 2021 Tacoma makes a weird jolt/lurch everything I gear shift to drive is it normal?

Bought it new out of the dealer 2 days ago, it's a 2021 TACOMA SR5 4X2 Axcess Cab 3.5l V6, evertime I gear shift to drive, the vehicle would make a brief short sudden jolt lurch movement, is this normal or is there something wrong with the transmission?

 

Look at the Tachometer. When you first start up it's running about 1000 on our 2021. It will clunk if shifted at that RPM. I let ours run a few minutes before shifting in, it then seems to slow the RPMs down to around 750, more like a normal Idle and it won't clunk.
Not exactly sure what is going on for sure, ours is new also. 1200 miles. I put on about 50, my wife put on the rest.

 

On the stock tune, my 21 OR did this as well. It was really bad with a cold engine before the idle rpms dropped. But still not good after it warmed up.

The KDmax tune fixed this problem on my truck.

 

Mine does it too. If im in park and shift into Drive it will clunk and sometimes reverse does it too.

 

same here, 21 TRD OR with ~4K miles. will need to pay more attention if it still does it once the RPM's settle down. I've only really noticed it when it's cold.

 

Ah, gotcha. Is this issue common with all cars or just something found on the Tacoma only? Plus is is this problem serious in anyway, will it cause a long term damage to the vehicle? I'll best try to warm her up and see if the problem still persist.

 

I find that mine is clunky when I shift from reverse to drive. If I let it sit briefly in neutral before shifting to drive, it’s much smoother. (2020 sr5)