D4 - this gear means that all four automatic gears will be able to work (1,2,3,4)
D3 - Three gears will be able to work (1,2,3)
D2 - Two gears (1,2) - L2 means the same thing
D1 - One (low) gear (1)
For your car, drive it in d4. this means that all forward gears will work, including overdrive (4th gear). It will be fine to leave your car in this gear.
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