sometimes lurches into gear (reverse to drive)

[diamondplate]

I have only had my 4runner for a few weeks now. Sometimes when I go to shift from reverse to drive the truck really lurches when putting it into gear. It only happens sometimes. I always make sure to come to a complete stop when shifting gears too. Any ideas?

 

[diamondplate]

Does anyone have this same sort of behavior?

I spoke to a rep at the dealership and they told me it was common on 4Runners.

 

[1GR-FE]

the only time this happens to ours is when the brake isnt depressed enough