I don't know if 2001 has it or not but I don't see it on 2004. Also found this on page 305 of the manual: "Always use the D position to improve fuel economy and quiet driving. Only in this position, shifting into overdrive gear is possible. However, when the engine coolant temperature is low, the transmission will not shift into overdrive gear even in the D position."
2015 RC350 FSport - Ultrasonic Blue Mica
2010 RX350 - Matador Red Mica
SOLD - 2004 LS430, 2001 RX300, 2001 IS300, 1997 SC300, 1996 ES300