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Update. I followed JP's advice and adjusted my clutch. I put about 1 1/4 turns on the adjuster (in small steps) and it's definitely better, although the shift problem hasn't gone away completely. Dealer assures me that Toyota/Aisin are still working on a fix and I'll get it as soon as it's available, but in the meantime the clutch adjustment along with the warmer weather make the car almost pleasant to drive. I may even stop calling it the "Black Pig" if I can get the rattles fixed as well.
Regarding fluids - others on this thread mentioned that they might try Amsoil. I had Amsoil in my trans for a while and it was a big improvement over the standard fluid, but won't cure the problem. Current fill is GM Synchro, which feels slightly better than the Amsoil at very low temps, but I think not as good as Amsoil when it gets warmer. Next up will be Motul 300, which I've heard is the best option so I'll give it a try.
Side note. When I adjusted the clutch I found that there is a totally bonkers contraption on the LHD version of these cars which transfers the clutch pedal input over to the master cylinder which is mounted to the right of the throttle pedal. I guess the car was designed to be RHD. Low budget or what!?
Thanks again JP!
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