When I shift from reverse to a forward gear position, the indicator has a habit of showing all 3 (D1,D2 & ESP)until I press the throttle. Then it goes into gear and the gear indicator shows the correct position. Is this a normal thing for the Rubicon?

 

yep, mine does it too

 

I think that this is because of an internal switch on the sub-transmission. It doesn't tell the indicator that it is actually in gear until the sub-transmission is fully engaged. You don't have to hit the throttle though. If you rock the bike a little bit it will fully engage also. Mine does the same thing. It seems to do this less as the mileage increases. My guess is that the gear teeth on the sub-transmission are too sharp when it is brand new and this prevents the gears from sliding together smoothly.

But what the heck do I know?

 

Mine does it also. I tried to adjust the linkage, but that didn't work. Before reverse worked good and I would have to gas it or rock it to get drive. After I adjusted the linkage it worked just the opposite. I then moved it back about half way and neither worked good (my usual repair results)..but with more wear it is working better both ways.