A vehicle includes a hydraulic control unit (HCU) having a set of electrically-actuated valves configured to open/close to accumulate a pressurized hydraulic fluid in a hydraulic apply circuit of a first clutch of a transmission; a hydraulic fluid pump mechanically driven by an engine and configured to provide the pressurized hydraulic fluid to the HCU; and a controller configured to: prior to temporarily stopping the engine, control the engine and the HCU such that the pressurized hydraulic fluid accumulates in the hydraulic apply circuit of the first clutch to a desired hydraulic fluid pressure, and upon restarting the engine, control the set of electrically-actuated valves of the HCU to provide the pressurized hydraulic fluid from the hydraulic apply circuit first clutch to a hydraulic apply circuit for a second clutch of the transmission to apply the second clutch and shift the transmission into drive.