I've been reviewing these forums for awhile as my wife has an 04 RX-330, but I just now decided to register after reading this thread. My brand new ES-350, with less than 2,000 miles is at the dealers with transmission problems. Seems as though whenever I would accelerate either from a roll or stop the transmission would seem to miss at 20 mph and then around 40, the transmission would act as if it did not know what to do. The transmission would hesitate and slip out of gear while the tach redlined, and then it would slip back into gear and lay rubber. This was a huge safety issue as you could not depend upon the car to accelerate around someone or pull out in front of a car without substantial distance between them. Dealer called in the region tech rep who in turn would not let the service guys open up the transmission. Instead they are ordering in a brand new transmission.
I didn't read this forum about transmission problems with older models before I purchased the car. Probably would have bought anyway, but thought others would like to know the transmission problems with the ES continue....