I've done some research for you.
The transmission has several solenoids, depending on which one, it might be pretty easy to access and would not cost $$$$ to replace. I might be wrong but this transmission is the same as Camry and Avalon unit. They probably share the same part. In this case, a local junkyard might have the part for you. Some one please chime in. By the way, the brand new transmission is about $1860 with core.
Did you try to get an estimate from AMMCO?
They'll give you free diagnostic.
http://www.aamco.com/
Here is the location
http://www.aamco.com/main/locateacen...teacenter.html