Lexus released the first transmission software update for the '02-'03 ES300 on August 4, 2003 (TSB # TC004-03). This update has, for the most part, been unsuccessful in alleviating complaints about the shift behavior. And the complaints have continued through the current '05 ES330 model year. On April 1, 2005, Lexus released new transmission software updates for the '02-'05 ES and revised the original TSB with the new Calibration IDs.
If you would like this software update, go to your local Lexus dealer service center and request TSB # TC004-03 (Revised on April 1, 2005) be done. This update is covered under the Lexus Federal Emissions Warranty, which is 8 years or 80K miles (whichever comes first).
There is an April 12, 2005 news article from the Post Gazette (Pittsburgh, PA) addressing this recent update:
Link
Original post from 2003 is below. The fix mentioned below was available to Canadian customers, but was never made available to US customers - likely due to it not meeting US emissions requirements. ULEV compliance and/or emissions requirements in the U.S. are what is believed to be the stumbling block for Lexus in coming up with software code that provides more acceptable shift behavior. For example, you wouldn't find the same transmission behavior that many find unacceptable with the ES sold in Japan (a.k.a. Toyota Windom).
Quote:
Candian '02 ES300 owner 4ali on Edmunds.com posted the following:
Quote:
#3783 of 3784 2002 Transmission Success by 4ali Jun 19, 2003 (10:56 pm)
I called Lexus Canada's 800 number and I told them of my lazy transmission and hesitation problems. They contacted by dealer and they ordered a new computer chip that is a temporary fix until the "true fix" comes out in January. Lexus Canada representative made clear to me that this is not a "defect".
The computer part number is "89666-33442 Engine Computer". I had to wait about a week, but the replacement took about 12 minutes.
Thanks akw3 from Canada for the advice from an earlier message. (I think we both bought our ES300's from the same batch at Don Valley in Toronto).
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This is good news for all '02/'03 ES owners.
My guess on why it's considered a temporary fix is that it might make the car no longer ULEV compliant, one of Lexus' selling points when it introduced the new ES. And according to a tech., getting the car to meet certain emissions standards (for ULEV compliance I suppose) was the reason for the "lazy" transmission behavior. So I'm guessing legally they can't roll out a permanent fix that goes against their claims of this car being an Ultra-Low Emissions Vehicle. Of course, just a guess. 
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