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Why didn't you start the car in neutral and then rev match to 5th?
My Hyundai Sonata did a similar Christmas tree light show when I did an engine off at a red light. I started up in neutral just fine but when I popped it into gear, the engine grunted and hesitated before giving me power.
No more of that for me. From now on, I wait until all the startup lights turn off before I move into gear.
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