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OK, si it's definitively "bump" related.
Also, it seems to get better when the oil is really cold (0°C).
I went back to the dealer today, they test drive the car and they agreed it's really, really not normal. They are waiting an answer from Toyota, If they have to replace the transmission, or just repair it. I really hope they will just repair it because I still don't know if it gets under warranty (the tech said me that my warranty was broken because one of the motor oil change was made with one month delay :-( ) Even if it has no links with the transmission, it breaks the warranty.
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