My 4Runner does this here and there, sometimes an inline relay will cure the problem, sometimes not, I still have the issue. The shifter position can have a lot to do with it and since the rod runs from the trans to the shifter mounted to the body the distance can change with an old weak trans mount. I think I banged down too many times on my crossmember and bent it a little up so it pushed the rod further back. Still working on getting it right. This week I am going to install a backup push button in my dash for those times it refuses to start instead of having to jump it across with a screwdriver on my inline auxiliary relay that I installed.
