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If it is not going into overdrive or lockup it could be the fluid or an electrical problem. Some of the shifting is controlled by solenoids now. You may have to get a transmission shop to evaluate it for you.
You'll want to doublecheck & make sure the Overdrive is turned on. That's a high rpm for 55, even high I believe for Interstate cruising at 65-70.
Possibly get back to the dealer immediately if it's not the Overdrive switch.
There are issues with some models that concern the RPM staying around 4,000 even at idle & under the right circumstances, a transmission won't shift as it should based upon engine & driving signals that the Trans computer uses to determine when to shift.
Check your fluid first & remember, Overdrive doesn't work until the fluid reaches a certain temperature.
I have a 2002 Hyundai Sonata and I had the same problem. But mine would always shift into 3rd gear and STAY there until I turned the car off. I took it to a Hyundai dealer and he had to rewire a speed sensor on top of the transmission. Apparently a little animal got up in that tight little spot and gnawed on my sensor wires. The car has run fine since. To make a long story short, it might be your speed sensor on your transmission.
There isn't anything wrong with your car. This is perfectly normal. I have a 2000 ES300 as well as other people that I know and it operates in the same way. Overdrive doesn't mean the same thing for every car or transmission. In our case overdrive is simply a reference to the top gear which is 4th gear. When you switch overdrive off(which is depressing the button causing the O/D OFF dash light to illuminate,) the highest gear becomes 3rd because you turned 4th gear or overdrive off. The application scenario for this is usually mountainous terrain where a lot of uphill driving makes it more feasible not to up shift into 4th gear while ascending and descending. It will not switch back to overdrive or 4th gear until you re-engage it by turning the overdrive back on or repressing the button. Again, when the O/D OFF dash light is illuminated, overdrive which is 4th gear is off and the highest gear will then become 3rd. It will never shift into 4th gear while this light is illuminated or overdrive is off. When you press the button and the O/D OFF dash light is NOT illuminated overdrive is on and therefore it will shift into 4th gear as usual. This applies to all 97-2001 ES300's and probably any other car you drive tat exhibits this same type of change when overdrive is turned off.