I think others have hit on why it feels the way it does
To answer the question of "Is the 200 just badly undergeared".... Pulling from this other
thread
View attachment 1984108
View attachment 1984109
Compared with an '04 4Runner:
V8:
1 - 3.520 2 - 2.042 3 - 1.400 4 - 1.000 5 - 0.716 R - 3.224
Final drive ratio = 3.727
Overall drive ratio in 1st - 13.12
V6:
1 - 2.804 2 - 1.5313 - 1.000 4 - 0.705 R - 2.393
Final drive ratio = 3.909
Overall drive ratio in 1st - 10.96
You can see it's quite the opposite. The 200-series with 8-speed is hugely overgeared for a stock vehicle in 1st with overall gearing at 15.857. It is almost equivalent to a 200-series 6-speed with 4.88 aftermarket gears. That's a lot of gearing. To put that in perspective, an 8-speed equipped 200-series running 37s is still better geared than the stock 6-speed running stock 31s.
This is likely why the throttle mapping might feel off to some in the newer 200-series. It's as much getting use to the gearing as it is the throttle mapping. In modern cars, the interpretation of the throttle pedal to the computer isn't the same as days of yore when it mechanically opened the throttle body. Throttle input is more akin to torque requests. With huge gearing, come huge mechanical torque at the wheels. Toyota/Lexus may have mapped the throttle in a way that dampens and modulates this torque request to enhance driving smoothness so it doesn't buck and jerk the way an overgeared and powerful vehicle like a tractor can.