I had this problem on my 2002. I chased down transmission error codes and was about to replace some solenoids. Then, I walked into the local Toyota service center, described my problem and the two service techs looked at each other, then at me and said, in unison, "It's your computer". Turns out that the computer was giving only 8 volts to the transmission solenoids that require 12 volts to fully actuate. So, one computer and $1,500.00 dollars later, my Rav shifted just fine. FYI there is a service bulletin on this. Should've been a recall.
Hope this helps.
Wednesday, May 7th, 2014 AT 4:49 AM