Toyota transmission u241e is rigged with problems. several of their models have this and it's costly. in addition the ecm ecu (computer unit) is problematic. you will have to fix the transmission or the computer or both. they have received many complaints about this but do little to fix or even help. you can find bunch of articles on it. see: http://qcwo.com/technicaldomain/harsh-shifting-problems-on-toyota-rav-automatic-transmission-and-problem-repair
Steering shaft bolt snapped in half while making left turn. steering shaft was disassembled, and new shaft bolt replaced for old rusted out shaft bolt. two hours labor. *tr