They will apply a TSB to take care of the "Shift lag" for you:
Engine Controls - A/T Downshift Lag/Gear HuntingTRANSMISSION & CLUTCH
TC003-05
Title:
ECM CALIBRATION: SHIFT FEELING
ENHANCEMENT
Models:
'04 - '05 Camry (3MZ-FE, 5-Speed A/T)
June 3, 2005
Introduction
To improve the transmission shift feeling during specific operating modes, the
Engine Control Module (SAE term: Powertrain Control Module/PCM) calibration has been revised. These improvements include:
^Reduced downshift lag when accelerating at speeds from 10 to 20 mph.
^Less gear hunting when driving on/off
accelerator pedal at 20 to 30 mph (for example: during heavy rush-hour traffic).
^Improved response rate during heavy acceleration from a stop.
NOTE :
^Version 12.2a or later Diagnostic Tester software is required to perform this procedure.
^Before proceeding, verify the
ECM (PCM) calibration has NOT been updated by checking for the Authorized Modifications Label (shown in step 1 of the Repair Procedure).
^Harsh ATM shifting may result if any Repair Procedure steps are omitted (specifically steps 2 and 4 of "Flash Reprogram
ECM").
Applicable Vehicles
^2004 - 2005 model year Camry vehicles equipped with 3MZ-FE engine and 5-speed automatic transmission.

Warranty Information
Applicable Warranty*:
This repair is covered under the Toyota Federal Emissions Warranty. This warranty is in effect for 96 months or 80,000 miles, whichever occurs first, from the vehicle's in-service date.
*Warranty application is limited to correction of a problem based upon a customer's specific complaint.