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2021, does anyone else feel a small jerk/nudge when going from P to R? Does anyone else feel this? 6K miles.
 

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That's what every automatic vehicle pretty much does. In "Park", the transmission is in neutral with a parking pawl to help prevent the vehicle from rolling. When you shift to "Reverse", the engine is now engaged to the drive wheels with the torque converter slipping to allow for the speed difference between the drive wheels and the engine speed, and any slack in the drivetrain is taken up.

Also, as components break in, the driving dynamics may change slightly. I know when I had my HR-V, the shifting was really butter-smooth at first, but as the shifter bushings broke in (manual transmission), the shifting got more "notchy".
 
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