Ah, this is an improvement. In 2017, they had an astonishing amount of issues with Aisin 8 speed in Highlander and Sienna AWD, and they never recalled them. My friend was 36 or 38 times at a dealer with Highlander, and they never wanted to replace the transmission; they were trying to resolve issues with the software, claiming the transmission was ok. Then he lost patience and said: how about trade, and they calculated trade, minus BAD transmission. He traded it for, hear this out, Chrysler.