Brake Grinding Noise problems of the 2019 Toyota RAV4

Was at drive through cash machine, stopped, put into park, did my transaction, put car into drive left to get to street via a side street. Noted at stops that the brakes were hard as when abs is not quite right. On a town street, two pedestrians stepped out into my lane of travel. I put on my brakes, hard. The engine rev'd and continuted faster and I kept my foot on the brake, the women got out of the lane. I really don't recall sequence, I was terrified (have had a car run away with me long ago). But I do know it was rev'ing hard, I was so terrified I did not note if any dash lights were on, or what the tach (?) was doing. Rav was in drive, I pushed lever to n and finally to park and the engine was shut down. I had pulled to the side of the street, so fired it up, and it was 'normal' brakes no longer hard. I cautiously pulled out into the lane and made it to the Toyota dealer. It tried one more time to do a rev when I put the brakes on, but not like that first time as I immediately turned it off and put into neutral/park. Toyota service person showed concern and drove the rav around for about 10 minutes and could not get it to repeat this. He thinks maybe I should have the shop bypass the automatic stop engine thing, permanently but there's not longer a way to do in newer ravs. So pushed the a button to turn it off and fear driving it. Service man was going to call me back if he comes up with anything. He may not recall the unintentional engine revs of a few years ago in Toyotas, which caused accidents and deaths. It was not the floor mats I only have the rubber ones, 'bolted down". First few weeks after purchase rav made bearing-like grinding noises when the auto stop was turned off so turned it back on. When a on or off, vehicle jerks coming to a stop and when moving forward after a stop. Car has <4000 miles. Bought new.