Been having issues with hard shifting for a few months now. Figured I would take it in when I went for my next service. Told the service guy at Toyota and they said they would check it out. Went to pick up my car and he said he drove it and noticed a kick back and topped off the fluid and recommended I schedule a diagnostic on the car, so I did that.

A week later it hadn't happened once but I still showed up my appointment, they told me there wasn't much they could do without the car acting up. They also stated you can't change or add fluid since it is a lifetime, sealed transmission. Two days later, it starts doing it again. It has been progressively getting worse so I took it back to the dealer. They are having me leave the car to diagnose the issue. The service adviser said he has seen this happening a few times with the model and year and they needed a new transmission. It's there now so I will update when I hear back.

The shifting was ok until you hit above 2nd gear, you could feel the car run more rough and when it would shift, the car would jolt. It felt like something wasn't catching up in time and then slamming down. It's also really bad when when you are driving in slow traffic, and you go to speed up again, there's a lag and then a hard jolt of the car trying to catch back up again.