2017 RX 350 acceleration--braking

[TONY V]

I purchased (new) a 2017 RX-350. I now have 21000 miles on odometer. I am a left foot driver on this automatic tranny. Problem I have is if I reverse from a parked space and apply brake to go forward, putting it in drive to go forward it sort of locks up and gives me a message (release the gas pedal). It won't accelerate until I completely do this. This makes it very dangerous when I pull out in traffic. I nearly got clipped in the rear because I could not accelerate to catch the traffic.   Does anyone else have this problem and can it be changed without me being re-trained to right foot braking.