Not up on this car, but.

Is the car completely stopped when you shift into drive? How does the trans engage when the engine is idling at around 900 RPM and cold, any better? A high engine RPM when shifting into gear can cause a clunking noise in many transmissions. Drifts backwards on inclines, how much of an incline? How does the trans shift gears when cold and driving?

The engine/trans setup should be designed to do just what you do, let the engine idle for under a minute and then drive. On modern cars letting the trans fluid warm up before driving is not required.

The trans mount is usually of solid construction; on many cars bad engine mounts can cause a clunk noise upon shifting. Did this car always do this? Might look at the engine/trans setup with hood open and standing to one side of the car when you have someone first shift into gear. See if the engine/trans moves when shifting.

Suggest trying another dealer and seeing what they say. Some dealers are great on warranty work, other avoid it because they make less money.

 

Thanks for the reply. I'll clarify a bit more. In the morning I start the RAV4 and idle for about 20-30 seconds. I can drop it into reverse and the revs go down to 900 with no clunk. When I put it to drive and the vehicle is still relatively cold at about 1200rpm, it would clunk. If I warm the vehicle for 3 or 4 minutes, there isn't a problem. I've tried the same scenario with my 2007 camry and there is absolutely no problem. All the other vehicle's I've driven in the past didn't do this.

I had recently purchased the vehicle but noticed it right away. I guess I'm too rush to wait for the vehicle to warm up.

As for the incline, I would estimate it about no more than 10-12 degrees. Again, my camry has no problem holding it?
appreciate any comments.

 

You know the answer already. wait for it to drop below 1ooo. It's hard to tell exactly what RPM mine idles at, but based solely on the tach, it looks like about 800. I wait for it to drop then shift into gear. Mine will clunk too if if shift too early when in a hurry. Most cars will.

 

I have a 2008 RAV4 4-cyl Limited which has the same clunk. The vehicle has only 300 miles on it. The clunk only occurs the first time I place the transmission into Drive each morning. It does not clunk going into reverse. Neither my 1993 Camry or 2007 Sienna have this clunk. I don't think it should be in the RAV4 either.

 

I know this thread is several years old, but I just bought a 2008 with 65k on it, and it does the exact same thing as described above. Get in after it sits for several hours (morning or when going home from work) start it, shift into reverse, then shift into drive - clunk. The higher the RPM, the worse the clunk, but it still does it at 800-900 RPM. Let it warm up for as much as 5 minutes; gets better but doesn't go away. After driving for awhile, no issue.