I have an RX 330 with about 154K on it.
I have noticed recently that (from a stop) when I press the gas there is a slight hesitation before the car lurches forward and continues down the road. Also, in general the car doesn't seem to have the get and go it once had.

Any ideas on what I should look into to determine what might be causing this problem?

 

Have you ever done a transmission flush? If not, I would start with that.

The fluid type is Toyota IV. I just emptied mine.. took about 9L.

 

Sounds like clogged fuel injectors. Try a can of fuel system cleaner and clean your Mass airflow (MAF) sensor. I had good results with Berryman B-12 fuel system or injector cleaner If you've never done this before, that's the most likely culprit. Good practice would be 2 use a can with every oil change or 2x year. And clean your MAF every 30k miles when you change your air filter. They don't teach you this in the owners manual.

01 LS430 149K
04 RX330 AWD 196K