2001 toyota Prerun/tacoma automatic transmission engages slowly
When placing the truck in drive, infrequently the transmission does not engage immediately. Had the transmission serviced, then the problem started. The fluid was changed using the automated method. The filter was not changed.
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check that the clutch is fully engaging by checking if there is free play at the throw out lever and clutch push rod . If you cannot push the rod back into the cylinder then the slipping is because the clutch is only partially engaged. Replace the clutch master cylinder if that is the case. If it is right then the fault will be in the pressure plat/ cutch plate and it may require a clutch kit.
Sounds like one of your hubs is sticking and not engaging. You can check them by engaging the hubs and the transfer case and jacking up each front wheel independently if it doesn't spin your good, if it does you found your problem. As far as fixing a hub goes, it may be just dry and need some grease, or there are some very good aftermarket hubs available from Warn.
Hope this helps
Your starter drive is staying engaged. Either the starter has failed, or your ignition switch is keeping the starter engaged. Try moving the key back from "start" while the noise is occurring. More than likely, the starter is the culprit.