A lot of good points already made, just adding some perspective:
- I own a 2021 LC200 from new (Nov 2020) and despite the improved software for the 8 speed from factory, it is not butter smooth from 1 to 2 and especially when slowing down for a 90 degree corner and accelerating again in say neighborhoods. That sometimes also goes with a relative harsh shift back to first gear and a lot of revs and pick up from there. By now my wife and I have adapted to not hit the accelerator as much coming out of those slow corners. This is just a function of a heavy drive train and more so Engine/Gearbox factory “tuning” which seems focussed on longevity (also noticeable when shifting down more than it should with cruise control on) than smoothness.
- Another aspect is some minimal play in the drive shaft splines aka slip yoke. I had at times during these slow corners and 1 to 2 shifts some minor “clunk” from it, until at around 30k miles I greased the driveshafts (please search forum how to do that, especially the driveshafts splines/slip yokes not be overdone or it puts axial pressure on the system). I have repeated that at 42k miles, with current at 46k miles. No more minor clunk in the driveshafts which is a nice improvement. My observation is that from factory (my experience from 5 to 30k miles) the amount of grease is minimal. If you have the space and can work the basics on cars it is worth making this a DIY item. Otherwise have it done with some specific instruction not to overdo the two slip yokes (one grease point on each the front and rear drive shaft).
- In your case I would make sure the transmission fluid gets changed for OEM fluid and that the leveling procedure gets careful and correct applied (needs to be in certain temp window for the level to bet set and the fill plug to be closed). The wrong fluid can directly affect the gearbox solenoids. I also believe to much fluid can cause harder shifts (solenoids operating with slightly higher pressure), though opinions vary on that. Getting the right Aisin or Toyota fluid is key amd somebody able to work on Toyota’s with software to watch the oil temp. Many USB dongles and software (OBD fusion is quite good and popular, search for it please) can show the transmission temp as well.
- In addition I definitely believe the TSB needs to be done by a Toyota dealer, you probably do that first, as it should be relative easy.
All in all I believe it is worth doing as the vehicle is otherwise great and feels super solid build, something you can enjoy for a long long time, possible decades.
Also like to point out that it is a body on frame and heavy duty build so it drives more like a truck compared to other independent suspension unibody SUV’s. Beauty is that any putholes or bad roads are pretty much irrelevant to the 200 series as it is very, very tough. With the body sitting on eight rubber blocks to the frame it can take bad roads for days on days and it does not hurt it. It is also very quiet inside from road noise (though tires play a big role) which I believe is in part to the body on frame setup.
Good luck as despite some challenges or new aspects, I love our 200 series for the otherwise complete package and capabilities it has.