2000 TL 3.2
On 2nd tranny - probably about 150,000 km on this one

Every now & then when I start the car, the TCS light stays on & tranny does not auto shift out of 3rd - have to use manual - other gears are sluggish to change & "jump" into the change. The problem does not appear to be related to anything. Happened about 2 months ago & lasted a few days and then stopped on its own. Happened yesterday (drove it 3 times) and today all is back to normal.

Any ideas would be appreciated
TIA
Doug