Hi, I had the same problem. Mostly when cold, going from 3rd to 4th. I also suffered from occasional lack of power loss which i think was related to DPF. Anyway, re: gear flare. Toyota Replaced my gearbox, after about 12months of complaining. This didn't fix the issue. The service manager informed me that all 2.8 6sp auto combo's do this (Fortuna, Hilux? and prado). So eventually, I took it back to toyota, had them write me a letter saying that the car was mechanically sound, the slipping is normal and the DPF power loss is within specs. I never believed it so I sold the car, provided the letter as warranty to the new owner.
Bottom line, this engine/transmission and DPF combo is not up to scratch, as far as I'm concerned.
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