not resonding to ecceleration on 2002 Lexus ES300

when taking off from red light the car does not respond to eccceleration for a few seconds and the it slams in and goes it is an intermiten problem it doesnt do it all th time and it doesnt have any check engine codes on it

Asked by for the 2002 Lexus ES300
this is not normal and may be damaging the transmission.
advise taking it to a local Japanese car specialty shop and
let them diagnose this problem as soon as possible.