2005 Toyota 4Runner Car Kicks upon releasing the break afte

Something kicks when I release the break after full stop once in a while, maybe one time out of 5-6 stops. I just went to Toyota dealership, they didn't find anything and said that computer shifts gear into neutral gear after full stop, so when break is released transmission kicks in. I am not sure I agree because car is moving already on flat surface after break is released and than 1-2 seconds after there is a kick. I am really puzzled by it, but at least I have warranty for drivetrain for another 30K. They also said it was normal, but I swear that it didn't happen before 30K.