Squeaking and lurching from park to drive

I’ve been noticing that going from park to drive there’s a squeak and the car almost jerks forward. is this normal operation? Thanks ahead of time!

 

There was a thread a while back about the shifter squeaking, but I think the lurching is a new wrinkle.

 

Grease the driveshaft yoke. It should deal with the jerking assuming nothing is broke.

Squeaking, I am not too sure about.

 

It sounds like the breaks releasing. Should i take it to the dealer?

 

Post the year and mileage of your 4Runner and whether this only happens in the morning and/or when you first start it after it's been sitting for a long time.

 

If you haven’t already, try applying a little more firm pressure to the brake pedal when shifting. I’ve noticed ever since I’ve owned my 5th gen that if I relax my foot just a little on the brakes, it creeps. More so than other vehicles I’ve driven.

 

My brakes don’t make sound when I release them. Or do you mean it sounds like releasing the parking brake?

Are you holding the vehicle with the brake pedal while you shift to drive? I try to that to avoid shifting into drive while the vehicle is still rolling backward, which is not great for the transmission.

 

Yes i am pushing in the brake pedal when shifting

 

What do you mean that it sounds like the brake releasing?

Maybe you’re hearing a little pad/rotor stiction that sometimes happens when lightly applying the brakes when they’re cold or when it’s more humid. It’s common to hear that stiction sound on the brakes if the brake pedal pressure is “just so”.

 

Wait til you're in 4 lo and have to push the brake pedal harder not to move.