You only need to shift to D to make the car move forward, sir. The Avanza manual strongly recommends against using L and 2 (meron na bang 3 ang bagong Avanza?), even on inclines, to avoid overheating the transmission. See page 91 (or thereabouts) of the Owner's Guide/Manual.
All you need to know about shifting properly is in the Owner's Guide/Manual, sir.
I hope this helps.





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