1997 hesitated when put in reverse and then backed slowly, only happened once can't duplicate. the when transmission is in neutral car will roll forward slowly
when the automobile is in neutral it will roll forward as there is nothing to stop it from doing so, when parked engage Park with the E-Brake on if you need it in neutral use the service brakes or the E-Brake. I would recommend you take your automobile to a specialist Toyota shop and ask to have the transmission fluyid and filter changed.
Are there any Dash warning lights on or flashing? Sure does sound like a Tranny issue. What Engine and how many miles on this vehicle? Does the Owner's Manual describe a procedure for checking the Fluid in the the Transmission?
To provide peace of mind I would recommend that you take it to a tranny shop, they can plug in and perform tests on the internal solenoids to see if there are any resistance or switching problems and possibly anything else that might be happening to the internals of the tranny and let you know what it is going to take to fix it if anything other than a good servicing.
Wlarren....any good news concerning this vehicle?
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