There is a lawsuit going on for this!!!
http://www.kabolaw.com/lemonlaw_investigate.asp
Hesitation Problem in the Toyota Highlander & Lexus ES300 with the Five-Speed Transmission
Some 2002 to 2004 Lexus ES30 and ES330 models and the Toyota Highlander and Lexus RX330 equipped with the five-speed automatic transmission and V6 engine reportedly have a hesitation problem when the driver attempts to accelerate. Toyota apparently has no fix for the problem. If you’re an owner of one of these cars and would like to know if you have a lemon law claim, contact us for a
FREE Case Review (
http://www.kabolaw.com/lemon_law_review2.asp).
I don't work for them and I am in Canada. I just thought I'd post it and if enough American friends do a class action, Lexus/Toyota might actually fix the problem

, like Honda/Acura semi-fixed transmission problems after being sued. As well, the Toyota 3.0L sludging was resolved like this too.