I wiil respond by saying the shifting was (is) not my concern.
The PROBLEM is when slowing down around 2-5 mph, IF you need to accelerate more than a slow ease, like avoiding an accident, the car will lag, very DANGEROUS....
I have reported this to the dealer 3 times, all they do is reset the computer.
BTW my 03 ES300 did this too.
My 04 RX330 is worse somtimes that others, but never acceptable.
It won't be fixed until someone is killed. In my opinion. :o