Reverse is all good but when shifting in to drive, I have a long delay before it engages. Once engaged, it shifts through all gears just fine. Any suggestions on why it takes several attempts or long periods of time to get it in to gear? Look forward to hearing thoughts on this.

R-

 

Drop the transmission pan and change your fluid and filter. This is the beginning of one of your solenoids failing. I bet your fluid will be dirty too. It's the last chance you have of saving it before it gets worse. Make sure you use Toyota world standard fluid from the dealer too.

 

isn't it a sealed transmission though?

 

It is but some shops have the pumping system to pump fresh fluid back in there once the pan is sealed up and filter is changed. There are 2 ways of pumping fluid back in there. Look up on the forms. Don't just get a flush though as that will for sure clog the filter and more problems will follow.

 

Before going to town on a trans flush or filter replacement try simply removing one of the battery cables for 20 minutes to force the trans ECU (and other things) to reset. Worth a shot since it's a "free" fix.

 

I agree with you about the battery. But in the future Service the transmission for preventative maintenance in the future.

 

I would change the transmission fluid at dealer.

 

It's I agree unless you know a really good shop that will do the right thing. I would go with the dealer first.