Tacoma problem from shifting from park to drive

I have a 2023 Toyota Tacoma 3.5L v6 and every time I shift from park to drive I feel a jerking movement. I press firmly on the brake but it still happens. Has anyone else experienced this and is it normal?
 
My 2020 3.5 auto has been smooth as butter since new. I'd say if you have a harsh engagement going from park to drive, or reverse, its not normal.
 
My truck takes forever to get up to the normal operating temp on the temp gauge. As far as the tach...when stone cold way below freezing, the engine will turn 1500 rpm for a minute, then drop to 1100. I can engage reverse, or drive from the get-go...it doesn't matter how long I warmup the truck, or rpm...its always engages smooth as a babies butt.
 
My truck takes forever to get up to the normal operating temp on the temp gauge. As far as the tach...when stone cold way below freezing, the engine will turn 1500 rpm for a minute, then drop to 1100. I can engage reverse, or drive from the get-go...it doesn't matter how long I warmup the truck, or rpm...its always engages smooth as a babies butt.
After you shift into drive are you still holding the brake for a few seconds waiting for the rpm to go down or do you immediately let go of the brake as soon and u shift into drive?
 
I just drop it in reverse, and back out of my driveway. I never keep track what rpm the truck was idling at. Rpm always feel higher when going into reverse, or drive when temps are really cold. Thats just normal. Whats a bit different than other manufactures trucks I've driven, is when the engine is still cold sitting at a stop sign, or traffic stoplight, and on the brake, the trucks rpm will increase a couple hundred till the engine is up to the normal operating temp before it backs down. You can feel the drivetrain torque increase through the chassis as your stopped in the drive mode.
 
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