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Seam like transmission fluid is low.
-Start the engine, let it run for 10 minutes to normal temperature . Do not turn it off and check transmission fluid. If it's low add more fluid to full indicator. And try again.
The light indicates a fault has occurred in the transmission or the electronic control sensors and actuators. You need the dealer to scan the transmission control module (TCM) to see what fault code is stored and then based on that code perform diagnostics and repair the transmission.
How long have you owned it? Is it possible there is a shift kit installed for towing? Was there something that was done just before it started doing this? A tune up perhaps?
I have an newer Sienna with a similar issue. In mine there seems to be a lag up shifting and then the shift happens. I believe there is a program upgrade at the dealership which can eliminate this
hi if its just second to thrid then the clutch is slipping on thrid gear look at the boxes oil level is important but look at the colour is it red and tranperant as this is ok if its brown its a sign of the clutches slipping i would try a stall test on thrid gear first and if its ok second gear [manually] see is the engine stalls at the correct rpm if you thinkabout it imagine you are in thrid gear in a manuual box and suddenly drop into second it would be hard shifting it could also be a faulty thrid gear solenoid yates210456
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