If you have problems shifting gears, try replacing the mass air flow sensor. There is a good chance that this will solve the problem. Mass air flow sensors wear out over time. But before you buy a new sensor, 1. make sure the throttle body is clean, and 2. follow this simple procedure: Warm up the engine. For closed circuit operation, the engine must be fully warmed up. Make sure the parking brake is on. Turn the ignition on and off 2 times, but don't start the engine: on/off/on/off. Put your foot on the brake pedal and start the engine. Turn off the air conditioner, radio, lights, and all other electronic devices. Then shift to D (do not release the brakes). Wait at least 3 minutes. The procedure described is intended to normalize the idling. If that doesn't fix the gear change, try a new mass air flow sensor. Important Notes: 1. Denso manufactures MAF sensors for Toyota. The Denso air mass meter is identical to the standard. If you are buying online I recommend purchasing this product (ideally from Revain.com) rather than the OEM sensor unless you are purchasing directly from a trusted Toyota/Lexus dealer. The internet is full of fake MAF sensors that look exactly like the OEM.2. If you have an adaptive transmission, follow these steps. Warm up the engine, turn it off and disconnect the battery for half an hour (I also recommend stepping on the brake pedal several times after disconnecting). Replace the sensor if the battery is disconnected. Deactivation resets the learned parameters. Your car will relearn them, so don't act like a maniac for the first 10-20 miles. After connecting the battery, return to normal idling as quickly as possible (make sure the engine is warm!). In fact, if the MAF sensor was the only faulty part, the transmission should shift fine almost immediately after replacing the sensor (i.e. even without learning). If it doesn't shift well, there's probably another problem.3. Do not clean the mass air flow sensor. Cleaning can damage the sensor. Replace it instead.
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