Location of shift solenoid

Yes, you do need to remove the pan. here is a guide to walk you through and diagrams below to show you how on your car below:

https://www.2carpros.com/articles/how-to-service-an-automatic-transmission

Check out the diagrams (below). Please let us know if you need anything else to get the problem fixed.

my rav4 manufacture year 2001 have shifting problem .i discover its shifting solenoid problem were it locate on valve body ? i thanks a lot .

what is the code it may not be the solenoid it may be something else in trans causing the problem. there are 5 of them