2002, hard shift from 2nd to 3rd when warm
 

180K miles, fluid flushed at 120K miles. It shifts fine when cold, but starts shifting hard as it warms up. I see this most with in-town driving when there is little acceleration going on. If I keep my foot in it, it shifts fine. The dealer put it on the diagnostics but found nothing wrong. He also "reset" the computer and said the car will re-learn its proper shifting .... And I thought it had worked but the problem returned. I think all they did was unhook the battery for awhile.

So I could sure use some hints from you gurus as to what controls shifting, what could be causing these symptoms, etc. I find it hard to believe it is a major component that has failed, since it works well part of the time.

Thanks for any help or experience you can offer !!

Might check with the Toyota dealer if there is an updated trans computer reflash.