I had this same problem. It was the Neutral Safety Switch. It had worn out. Pretty simple not very expensive if I remember correctly.
get your starter check I had same problem it was faulty starter
Neutral safety switch improperly adjusted or going bad
toyota tarago Toyota (for one), Terraplane (for another).
Toyota does manufacture vehicles in the US. If the VIN starts with 2J, it is made in Japan. If the VIN starts with 4T, then it is made in the USA.
Possibly a cylinder not operating. One simple check to do in the garage is a heat test. Run a cold engine for about 15 seconds. Then check the temp of the exhaust at each exhaust port. They should have a temp that is warm to the touch on all cylinders. If one is still cold then that is a problem cylinder. Look at the wires, plugs and injector to ensure everything is OK. Further in, check compression if necessary. If vibration starts once its placed in drive but its OK when in park then you got a transmission problem. I would suggest taking that problem to a shop. They could get an adjustment or find a more serious problem.
The oxygen censor may be causing this problem. If this isn't the case then there may a problem with the coil pack.
The Toyota RAV4.
Could be a, Clutch problem, Transmission problem or an Axle problem.
A bad relay switch could be the culprit if dash lights remain on after engine starts in a Toyota. Cold weather can also cause these lights to stay on after the engine starts.
I would check fuel pump pressure, fuel filter, and than timing.
Kyle Petty-815 Starts Most Career Starts for an Active driver
The Yugo and the Toyota Yaris
Toyota Land Cruiser.