Have you cleaned or checked your throttle body? It's virtually free to give it a good scrubbing and see if that he. It happened to me very similar to what you described. Mine was a throttle body position sensor code or something. It turned out to be a very dirty throttle body. A quick spray and scrub cured my problem.
I thought I blew my tranny when I put it from reverse I to drive. It CLUNKED something awful! Good luck with your problem.
...via IH8MUD app
i am having similar issues in my LX470 99, it feels like the CDL is locked or the power steering is bad....
when starting up from stop its feels sluggish, almost crawling, and it gets worse when making a sharp turn in a parking lot or wherever, almost to the point where the front tires grab and chirp like they do when you DO have you CDL engaged (but may not know it).
tires don't grab as much as when locked, but it definitely does not feel normal.
have had front wheel bearings checked twice by lifting truck and "shaking" or checking "play" in each front wheel and they seem ok
tires have proper inflation
power steering fluid is full but is very dark almost like coffee colored, may drain and add new there to see..
but when moving it seems ok, don't think tranny, nothing is grinding, and when i click to neutral the truck rolls almost more freely if on incline, i have greased my rear drive shaft over greased it a couple times, have not done front one yet, could there be more slack in front drive shaft since the rear is full now??
also have heard about the transmission crossmember being a cause of driveline slack, and slack may be causing some of my issues??
best way i can describe it is feels like i am in cement when i am starting from a stop, and the truck definitely does not have the get up and go she should.
recently changed all plugs when i had a coil pack go out, but it ran great for a month or so, then this
any thoughts greatly appreciated
I do have a CEL but it is for a bad cat, at least i think it is still for the cat, i need to check and see if new codes are throwing, duh