Well I'd go back and whack the guy in the head who inspected it. He should have road tested you and told you it wasn't shifting that good. With that kind of mileage it could be internal wearing transmission. If you can find a good transmission guy to check it out, that would be your best bet. Pray that something like it just needs shift solenoids or something

I'm responding to your post because I own an '07 ES350 and had transmission issues with it. Our transmission does not have a dip stick to check the fluid level. There a way to check it but your issues doesn't sound like it is low on fluid. You should have it checked just to be sure. I did my due diligence by having the transmission fluid changed about every 60K miles by a private shop.  Unfortunately, one time I let the local Toyota dealer change my fluid only because they were open on Saturdays.  After getting it back from them, the engine would race shifting from 3rd gear to 4th.  I took it back to them and they confirmed the transmission "flare" and said it was a faulty torque converter clutch and wanted $3000 to fix it. A few days later, I left my car at a local transmission shop for them to look at and at the end of the day, they said they would rebuild the transmission for $5000 or put in a used one.  They did not offer a rebuilt unit.

One of the members here posted a message that he had BG transmission service done on his car and it fixed the transmission problems it was having.  I then had that done to my car and the shift flare was gone. 

If you bought your car as is, no warranty, I recommend, only from personal experience, BG transmission service before you consider a transmission overhaul or replacement.