01 4Runner SR5 auto won't move forward until you hit 3000 rpm then bam, it takes off. I've searched everywhere and can't find anything. If you put it in D,2, or L it will very slightly creep forward on level pavement. Rev it up to 3000 rpm and it takes off like you dropped the clutch in a manual car....good power and no slipping then you let off and won't go again unless you hit 3k. Sometimes reverse works immediately then other times can't get anything. Tried 4wd and same thing. Good fluid and fluid level. Also drained and replaced filter. No trans codes. Torque converter? Solenoids? Electrical?! I'M LOST!!!

 

I had a fairly similar problem. Turned out that there was a problem with the driver's side rear brake drum. When starting the car, I would depress the brakes, and the brake cylinder pistons in the rear drums would expand, pushing the shoes against the drum. For some reason, the brake cylinder pistons would not retract/contract when I took my foot off of the brake. After enough RPM's, the 4runner would lurch forward and was drivable (albeit pulling to the left slightly), but the same problem would manifest itself every time I stopped at a stop sign or traffic light.

 

Did you check for codes and do you have a check engine light on? To me this sounds like a transmission issue.