When I put my car in gear, I have to bring the RPMs up to about 4000 for it to go in gear.
That is a very unusual problem, and should not be happening for a car this new. A problem like this can stem from a range of problems such as a minor electrical issue to the need for a new transmission. I would recommend having a professional technician, such as one from YourMechanic, inspect your gear shifting issue in order to determine what is causing this problem.
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