I have an RX300 and they corrected the problem to a degree. What I've seen and been told by service reps. is in the 99_> early 01 the vehicle would not shift into drive from low 2 until the fluid reached a certain temp. I believe it was around 260*. After it reached optimal temp it would resume a normal shifting pattern. The lousy feel of the transmision would become 10 fold worse if you happen to drive down hills alot before it reached this optimal temp. My 01 RX300 was not to bad, but I have driven numerious others that were downright annoying. I recieved numerous reasons from Lexus as to why it does such a thing, the last one being to keep the emissions down (whatever)! I see quite a few transmisions for older RX300's being replaced by factory remans. with relitivley low miles (under 120,000) these things are very peticular maitenence wise. Even with scheduled maitenence they go out ( in my mind and opinion ) fairly easy considering its a "Lexus". It scars me so much I do my trans. every 15,000 miles and I hope that helps. I recently picked up a RX330 to take over the brunt of the driving miles to preserve my baby alittle longer (currently has 38,000 miles on my 01 silversport) Nijna Lexus Guy!