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I am having the same problem with my 2000 RX300 with the P0768 code. The solenoid is sticking and sometimes won't go into high gear. Where did you get the 35230 solenoid for $90? Is this a Lexus OEM part? Lexus part numbers have more digits. I would love to find one for around this price. In California they won't smog the vehicle with the check engine light on.
Any help you can shed on this will be greatly appreciated.