Truck jolts forward when once stopped or at Take off

Tacoma 2009: Vehicle Jolts/Surge forward once at full-stop always as if the rest of the transmission is catching up to it...or from full stop to take of.... Best performance if is in a lower gear other than drive or if engine is reved up while holding brakes, then once released, it is nice.

NOTE: A similarity is as if the Universal joint was worn... doubt it, but that is close feel...