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I experience this too, but I think it does this only when the engine is cold to reduce excessive wear on the clutch packs or it's a comfort thing. The engine runs at higher RPMs until the catalytic converter is warmed up, so traditionally if you shift from P to a drive speed, the car would lurch forward/backward. With the 2016+ RAV4s, I think the transmission waits for the engine speed to drop slightly before engaging a speed, making a smoother transition.

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