Have the transmission fluid changed, with a new filter. See how it goes with fresh fluid. Don’t go to a quickie oil change place for this service, and I wouldn’t do a “flush” of any kind. Just drop the pan, clean it, have the shop drain the torque converter as much as possible, and refill with Toyota brand fluid.
If this is the 1st time in the life of the car the trans fluid is changed, then it might be too late. If there is no positive affect on performance with fresh fluid you either live with it, or start saving for a new (or rebuilt) transmission.