I only brought up the jerky tranny because so many on the 7-gen website have. I test drove an ES350 the same day I drove the ESh. I didn't notice the jerkiness, but I did notice a lag in acceleration when stepping on it from a slow start. I wonder if this was Toyota's solution to the complaints--remapping the throttle to avoid jerkiness. I've noticed this phenomenon in other new Toyota and Lexus vehicles. They may be trying to improve gas mileage too by making it more difficult to jump on it from a slow speed or from a stop. As a bonus, this would also preserve the longevity of the drive train. The downside...no racing MB's.