Unidentified error/beep when shifting from reverse to drive?

Occasionally, when I'm backing out of my driveway or a parking space and I shift from 'reverse' to 'drive', theres a loud beep and error light that comes on over in the speedometer area (it's so fast I cant see what the symbol is, and I cant reproduce it). Anyone else experience this? I could simply shift slower, but I'm concerned it's a problem. (photo not mine, but a good one to illustrate the error options)

Vehicle is 2017 T4R Limited

 

On the info screen in the middle - did any message show in conjunction with the yellow caution indicator?

And welcome to the forum!

 

Nanny is lightening fast and if you're rolling backwards the least little bit and shift in to D, she'll know it and squawk at you. That's my best guess. fwiw

 

Good thought... I'm going to check that this afternoon.

 

I've experienced the same thing, at least the beep but don't recall the warning message.

I believe what others have posted, shifting into drive to quickly while the car is still moving backwards.

This is probably causing a mis compare between the wheel sensors and the shift selector.

 

I believe it's actually the hill assist warning chirping at you right before it actually engages. The vehicle is still rolling backwards slightly but the gear position is in 'D', so it thinks you are rolling backwards down a steep hill.

In my Crown Vic I slam the car from R to D to R at 5+ mph and it takes it like a boss. In the Explorers, doing that will stall the engine. The 4Runner won't stall, but it also won't exactly tolerate it Vic-style. Just stop before you switch gears. Why risk potential damage?

 

Hill assist warning, that's probably it.

 

This has happened to me a few times. It's the hill assist probably.

 

I got that beep and light awhile back BUT while I was driving and hit a bumpy spot in the road. Ended up being the hatch not closed properly.

Just a thought in case it’s not the hill assist.

 

Mine has done this a few times in this exact scenario and I think it’s the traction control. Probably not completely stopped in reverse before shifting into drive.

 

No message that I've seen in that middle area, just the yellow indicator and a "squawk" as @Moon Landing accurately described it.

And thank you! Long time lurker

 

Sounds exactly right. I'll just slow my roll.

 

Thanks for the input, everyone! Sounds like it's user error and the T4R is just doing it's thing. Appreciate it!