2002 Toyota RAV4 Problem

Would suggest you get your ECM (electronic control module) checked. It's the engine computer. My 2002 Rav4 did the same thing (at 88,000 miles). It turned out that the ECM needed replacing. Toyota issued a recall to reprogram the ECM a year or two ago. I had mine reprogramed but the ECM still failed about six months after. They warrantee it up to 80,000 miles. Basically, the ECM is not sensing or sending the correct info. To the transmission so it doesn't shift properly. The factory part number for what I had replaced is 89661-42812. Hope this helps!