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or camry v6~$200 is pretty common/normal, but it is a pretty easy job to do. Whats difficult is changing spark plugs on Avalon, with 3 of them buried in the engine facing the firewall.
This tool has been priceless! Worth the investment in my opinion....
http://www.amazon.com/gp/aw/d/B0014ZVSVK/ref=pd_aw_sim_469_1?ie=UTF8&dpID=31PoZeKjXdL&dpSrc=sims&preST=_AC_UL100_SR100,25_&refRID=17MZZYZ9H9F0617ER1VT
Run Forrest run!!!! Tell him to look for an independent shop near him. That's a really simple job to do so it doesn't even need to be a shop that specializes in Toyota or Lexus.
Thats almost comicalHe has an independent shop that he goes to. He started at the independent shop with "hesitation and clunk from drive train when under heavy load" issue. The independent shop mechanic said he couldn't access the transmission fluid. My friend then went to Toyota dealer, Toyota dealer told him to go to Lexus dealer. My friend was able to reproduce the problem with the Lexus technician. The Lexus technician told him the transmission fluid is lifetime, never needs changing and it is fine. However, they can change the spark plugs for $589 and that might fix the problem.
I can't believe how some people become certified mechanics.