Don't go on freeway.... BOTH are correct. Make sure engine is running properly and check fluid level (hot and on LEVEL ground in park. Use toyota fluid for best results or a good grade dexron III. If it's been more than 30K , it probably wouldn't hurt to change the filter (or remove and clean screen - I don't remember which they had). Also one wild thought.... if I remember correctly , that has a button to turn overdrive 'off' , is that working properly?