If you're okay with temporarily higher RPM's, I found limiting to third gear to be great for accelerating and passing on the freeway. I just anticipate when to merge and shift about a second early.

 

You're welcome!
that's why we're here.

 

For two years I was having a problem with hesitation in drive low speed. After you accelerate the transmission gets confused it stays in high gear... When you press gaz transmission gets confused hesitate and over 2000 rm it shifts normally...

Change transmission oil and filter on all Lexus Toyota cars with high mileage over 150,000 miles...

You have to remove transmission oil plate, remove old filter. Most likely old filter clogged, most likely oil pan has allot of shaving clean it well, and clean magnet so can pick up more shaving... Replacing the transmission oil filter allows filter to pick up more shaving... change oil completely drain, might have to start car for 10 15 seconds to dump any oil in the transmission... after put back together and allow for 20-50 miles driving for filter and plate magnet to pick up any shaving this will improve performance by 80 % at least.... first few days...

 

Welcome to CL. I hope this fluid change helps your transmission issues. FYI this has been discussed a lot on this forum over the years.
Here is a link to the huge merged transmission fluid change thread:
https://www.clublexus.com/forums/rx-...d-threads.html