Toyota does make wonderful cars, by the way.
Anyway, it's because the engine is warming up. It warms itself up from a cold start (or whenever it's first started) by overworking itself a tiny bit before each gear change. The engine is designed to work at a certain temperature, so it's trying to reach that. And the first few gears in your car are your acceleration gears, causing the most heat when engaged. Your top gears are more for highway cruising, so there's not much revving needed once you get to those. nothing to worry about.
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