Once my car is warm it starts jerking and wont go into ovrrdrive

What is your question?

As we were driving home after we drove 65 miles to a certain store. On the way back after car is warm the car started to jerk and not go into overdrive. The rpm Amp up but no shifting into overdrive.

What makes this problem better or worse?

Worse when warm

How long has your 2000 Lexus ES300 had this problem?

Few weeks