I have a 2005 RX330, 70k miles and recently (only happened twice) when I start the car in the morning and put it into drive, the car wouldn't just roll forward. It seems like it's in park, or the parking brake was engaged. I double checked that the park brake was released. I then would try putting it in reverse and same problem. In drive, if I step on the gas slightly, it would move forward but it didn't feel right. Tried several times and same thing, finally turned off the ignition and tried again and then it was fine. Any ideas on what might be the problem? Again, this only happened twice, about 3 months apart. Thanks for any input.

 

It could be the transmission, it could be the transmission control module.

Check that the transmission fluid level is correct. You might want to consider changing the transmission oil. Fresh oil with all the cleaning chemicals would dissolve any varnish that might be building up and making parts stick.