A method includes controlling a torque output of an electric machine of an electrified vehicle based on estimated loads present during a transmission engagement of the electrified vehicle. Controlling the torque output may include merging a first feed-forward torque with a feedback torque if an input shaft of a transmission gearbox is spinning, or merging a second, different feed-forward torque with the feedback torque if the input shaft is not spinning.

A method according to an exemplary aspect of the present disclosure includes, among other things, controlling a torque output of an electric machine of an electrified vehicle based on estimated loads present during a transmission engagement of the electrified vehicle.