Engine dies when put into drive

I have a 2001 Toyota 4Runner automatic 4wd. The car starts but then will die when you shift it into drive. There isn’t any metal shavings in the transmission fluid. It doesn’t overheat. It shifts smoothly. I’d love some advice on where to start!

 

Do you know the rpm after starting? Then at what rpm does it die?
I am still learning the nuances of my 2017 SR5.
But other brands of vehicles I've owned were built with a IAC (idle air control valve). They gunk up with carbon over tens of thousands of miles and stop working properly. Their function is to up the engine rpm when the ECM calls for more power-like the load of the tranny.
Cleaning works and while you are in there clean the throttle body and consider cleaning the Mass Air Control sensor.

 

It would cold start at 1000rpm and then drop to 700rpm when warm then died when shifted. Good to know about the throttle body. I’ll try that first

 

I suggest cleaning the IAC. I tried to save time by getting a replacement IAC from Oreilly for my Honda Pilot a few years ago. Big mistake that wasted hours because the first non-OEM valve did not work. The swapped replacement did not work either. So I did what I should have done and cleaned the original IAC valve. It fixed the issue. Lesson learned-fortunately Pilot was not daily driver.
A quick search found this youtube on this subject.

 

There is no IAC on the 2001 and 2002 4runners.

 

Make sure you have PLENTY of room for this in front of you...but with your left foot on the brake and your right revving the engine a bit, can you shift into drive and keep it from stalling?

If so, then I would focus on the TB. I would remove it and do a full cleaning. Clean your MAF too.

 

Does it have any stored codes when it dies out? Throw a light for a second and die? Throw a code reader on and see. Sometimes they will throw one up for a split second. Can you post a video if it doing this? I had an issue with my 4runner dying out randomly when put in gear and it ended up being a weak battery on time.