You need a new 5th gear- luckily this is easy to replace- I did it myself following online directions for 5th gear replacement. The 5th gear is not in the box with the other gears- its off to the side so you can access it very easily by removing the left front wheel. Just don't let the idler assembly come apart, lots of tiny parts and springs... The 5th gear can ware out prematurely if you rest your hand on the shifter- do not rest your hand on the shifter in the future.
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Mursal, if you have less than 150,000 miles on your RAV4 you need to call Toyota National Customer service for free ECM replacement, Sears of 2001-2003 RAV4 are recalled and Toyota is covering 10 years or 150,000 miles. if you already have more than 150,000 Miles on it, you need to pay a dealer and replace your ECM. here is their number Toll free: 1-800-331-4331 and here is a link to more information regarding Toyota RAV4 recall. http://wheels.blogs.nytimes.com/2009/08/26/toyotas-reaction-to-transmission-woes-draws-customers-ire/
Your water pump is driven by your timing belt, can not be seen with out remove timing belt cover, to replace you will also have to remove timing belt, if timing belt has not been replace best to replace it now also, timing belt should be replace every 60,000 miles. make sure before removing timing belt that you mark where all pulley gear's are at, so when you install the timing belt back on there in the same place as before you move the timing belt, no need to mark water pump gear,good luck,hope this was very helpful.
Those designate the three different speeds on the auto transmission. If you select D, it automatically shifts thru all gears as conditions require. If you select L, it will stay in Low gear, or first, and if you select H, it will shift thru all gears except the overdrive gear.
I AM AN ASE CERTIFIED MECHANIC AND HAVE JUST OPENED UP MY RAV4 TRANSMISSION. I HAVE HAD THE SAME PROBLEM. THE PROBLEM IS WORN GEARS. YOU DID NOTHING WRONG. JUST A POOR DESIGN. THE CONTACT BETWEEN THE 5TH GEAR AND DRIVE GEAR IS VERY MINIMAL AND JUST A LITTLE TOO MUCH WEAR CAUSES THE PROBLEM. ONCE IT HAPPENS ONE TIME YOU ARE DONE. UNLESS YOU HAVE A GOOD DEAL OF EXPERIENCE IT IS NOT AN EASY FIX. HOWEVER THE TRANSMISSION DOES NOT HAVE TO COME OUT TO DO THE FIX. THERE IS A PLATE ON THE DRIVER SIDE OF THE TRANSMISSION THAT COMES OFF TO ACCESS THIS GEAR CLUSTER AND SYNCRO'S.