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Another possibility is the shift solenoids see p15, p86. This was a common problem in Camry autos. The car needs to go up on a hoist and the tranny pan removed for this repair, although the part is inexpensive. For that fault though the O/D light really should blink to tell you a trouble code 63,64,65.
Make sure your transmission fluid is fully topped up. If the transmission has to speed to build up fluid pressure there will be jolt as the drive is engaged from neutral. Make sure you fill up with the right fluid (use the transmission dip stick tube as the fill point). Also when measuring transmission fluid level have the engine running in 'park'.
Reverse clutches are burnt. Clutch material is getting into valve body causing late shifts since valves can't move. transmisison will have to be overhauled. wish i had better news. sorry
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