I have a 2001 Tacoma, Automatic with 89,000 miles. Recent dealer transmission flush revealed no problems.
When I brake and come to a complete stop, the truck feels like the transmission does not disengage, after a few seconds of being completely stopped, the truck pulls forward a bit, feeling like the transmision didn't disengage as quickly as the vehicle came to a stop. I don't know how to describe it more accurately, but have concerns that it is transmission related. The truck has been checked out and there are no other problems with it, I had the rear axle lubed, which was advised in a different post. This happens all the time, cold or warm.

Anyone have any ideas of whats going on? What is the Tacoma's history regarding their 4 cyl engine?
Thank you for any insight, I have no other problems with the truck, but if this is going to get worse, I need to get out now.

Might be a high idle problem ....Is the rpms still high when you brake and come to a stop??

Thanks for the response. No, the idle doesn't seem to be high. The truck seems to shift fine, simply does not want to wind down when stopping. It will lurch forward a bit when I take my foot off the brake after coming to a complete stop. I see no difference in rpm when I shift into neutral and back to drive. Its an automatic.

I assume you're on level ground and engine running or are you on an incline? My Tacoma does that but only if I don't put enough pressure on the brake pedal at a stop while in drive.

You're probably experiencing axle wrap for which the 1st gen Taco is notorious for. I had that happen in my truck before I replaced the rear leaf springs, now it's gone. What I was experiencing was when I came to a stop and let off the brake to step on the gas, I felt a thunk. I too thought it was a tranny problem, but after doing some research online, I discovered it was axle wrap. You may also want to grease up the zerks and u-joint along the driveshaft too and see if that works first. Below is a link on how to do that from another site. Keep us updated on your situation as it permits, good luck.

http://www.4x4wire.com/toyota/maintenance/...html#driveshaft