i got 2003 toyota rav 4 wheh you put in reverse they slippage after that run i reverse no problem after that when you in drive they move when reach 2nd gesr and 3 gear they slip after run s normal but when you stop and park when you in reverse they slip age or jerk

those had weak transmissions, and either yours is going out or the transmission computer, a known flaw on that model, is going out. BIG money repairs, sad to say