There is probably a problem with either the shift linkage or sometimes a cable is used in the shifter and that might need replacement. The shifter itself could be binding up.
My best advice is to take it to a transmission shop and not a regular repair facility. Automatic tranmission, especially in a RAV4, are difficult to work on and take special experience and tools to work on them. So, take the extra time to take it to a transmission spoecialist for repair.
November, 30, 2012 AT 8:38 PM
This answer was dead on. The boot on the shifter cable had come loose and kept the cable from moving correctly. A new cable fixed the problem.
December, 2, 2012 AT 5:31 AM
That is great news. I am greatful that it turend out well for you.
If you ever need anything else we will be here.