 I have been a lifelong Toyota customer until now. This is the 6th Toyota I have owned or leased and it's the worst experience I have had with one. Engine sounds like it's 20 years old. Shifts hard and lurches at lower speeds mostly during acceleration. I have had it at the dealer no less than 6 times. Rode with a tech that agreed it's not right. All the did was  reflash the ECU. There have been 2 TSBs they performed and problem persists. I called Toyota customer care and all they did was send me back to the dealer. I should probably go lemon law route but who has the time to deal with it. Really pisses me off every time I get in it.