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Does anybody else have this same feeling? It goes like this. From Park, I shift to D4, it engages immediately, then soon after, it engages a second time, causing a slight jerk forward. I feel it is double engaging.

 
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If your motor is cold it will rev higher causing it to slap into gear. When you first start it in the morning just give it a minute to warm up. It will save you in the long run.

 
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Nope, not happening only in morning, happening anywhere and everywhere.

 
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you have D4?

 
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D, D4, same difference.

 
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I think it's the torque converter "catching up" to the engine.

Theory:

1. Engage D4
2. Get that engaging feeling.
3. Those fluids start pumping and spinning around in the torque converter.
4. Torque converter is fully pumped up and takes up whatever slack was present.
5. Get that engaging feeling again.

These cars may have a "loose" converter. This help to get it going off the line with so little
torque. This may also explain the tendency of the car to roll backwards on slight inclines.

My car does this. Don't worry about it, it's normal.

 
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Yeah! You make sense. My car does have a very low hill tolerance, and tends to roll back on a slight incline. Can any adjustments be made to lessen this feeling? How about a warranty fix?