Poor Gear Change

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I've had a 2007 low mileage Rav4 2.2 diesel x-tr for 6 months and though solid and well screwed together I just cannot get used to the tiring 'jiggly' ride on secondary roads. The other big annoyance is the choppy, notchy 1st and 2nd gear changes. I note this is not a new complaint so why didn't Toyota recognise it before launch?? I'm very dissappointed!

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