Tranny and surge problem

Well first off I see a few people have had the surge problem. The weird thing is my mom's Toyota Camry does the same thing. At a stop with the brake applied the car surges foward. I think I can deal with that cause it doesn't happen often. The problem was after hitting some trail not hard at all mind you when I got onto the road my truck wouldn't shift. At 45mph my truck was stuck in a lower gear though I had it in drive. I slowed to almost a stop and it finally started shifting again. Is it a once in awhile thing or am I looking for trouble down the road? 2008 Tacoma 4x4 TRD Sport Auto 5000miles.

 

Not towing anything
Not loaded
I was in 4WD prior to getting on the road
I was going down hill I believe
I can't get it to do it again.

 

I had it in drive. The motor was high in RPM like 5000. It just seemed like it wouldn't shift into overdrive

 

The first two or three times I thought it was driver error.
I removed the aftermarket floor mats. The problem continues and seems to be getting worse.
I park on the 7th floor, when I pulled in to a space verry slow,the truck acclerates I press on the brake HARD, the rear wheels are spinning like a burnout, I put it in neutral tack went to 5 K+ tapped the accelerator then it droped to 700 rmp.

Another time on a Sunday morning ( no traffic ) same thing but I got pushed into the intersection.