The 6pd auto has been programmed well unlike the 8 speed in Toyota products. The 8 speed hunts for gears as its designed to get to the highest gear for economy purposes.

Side note in the industry, the best transmission available is anything Porsche PDK. The more widely available transmission thats best is the ZF longitudinal 8 speed. The programming on each of those setups is ridiculously good.

 

BMW does it especially good. Audi seems not so good at it...the complaints on the ZF tuning in the S4/5 is pretty bad.

 

The ZF 8-speed has seemed excellent on the two occasions I've driven it. Notably, in the XF I always felt like it did exactly what I needed it to even in traffic. And, controlling it manually is a great experience.

The 6-speed found in my IS 300 AWD has good programming for the most part, but it's not nearly as quick as something like the ZF unit. The modern Toyota/Lexus 8-speed has awful programming from my experience, though as I think I've mentioned before, the ES 350 seems to do a lot better than the Camry. Maybe that's just due to the engine having enough power that downshifts are less frequent.