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Puck it! previously said:

I have been noticing that sometimes (infrequent) at a stop, my FJ will lurch a little. It feels like the transmission dropping down to first gear. Anybody has this problem or know of it?

There is another similar problem with Toyota AT's where the drive shaft slightly hangs and slides back into place when the tranny shifts to first gear at a stop. I had this problem with my 2003 4runner. Usually greasing the drive shaft at the slip yoke or spline will temp. fix it. Toyota machines the slip yoke at such a high tolerance to reduce slop that it sometimes hangs up.

Article:

Toyota - 4Runner . org Forum - Drive shaft noise or U joint noise (LEXUS 4/06 TSB page 18)

Thanks!