TSB's
Always check the Factory Technical Service Publications first. And Low Tech always effects High Tech.
If your battery was disconnected the transmission must be relearned. If you had the fluid changed at a quick lube and the wrong fluid was installed that will drive that transmission to a early grave. Did the Grandson or a neighbor drive it! That can change shifting points and transmission feel.
I did not get a reply on the way your transmission was acting . My data bases have no significant recalls. There are some concerns with poor grounds causing problems on the computer side not the mechanical side.
As always a tech must test not guess. And Guess is all we can do - On line.
A stop to a Toyota dealer is my best advise. The Toyota factory scan tools and support system is pretty solid. And they are more that willing to retain their customers.
Cars today are nothing more that a Computer Controlled Can Bus module system, with four tires and some sheet metal wrapped around them.
Best of Luck!
Herv
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