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Just to give a quick update
I brought my car in and they found the Canadian version of the TSB and were going to work on it in the next few days (the idle TSB that apparently fixes the hard shifting problem) - then I got a CEL and the car went into limp mode. I was able to clear it after turning the car off and on a few times, but it reappeared. Next morning I drove the car to the dealer and hit limp mode twice on the way there (I was able to clear limp mode by turning the car off and on) but I made it to the dealer.
I gave them the car and they told me they would check the problem out. Got a phone call 3 1/2 hours later saying something is wrong with the wiring in my engine, particularly the DI (direct injection) seals on two of my cylinders failed - they described the hard shifting issues as an entirely different issue related to the TSB. Going to take a week for them to repair - they had to order the parts. Looks like I will be driving around a prius for a week now.
Makes me wonder if the DI seals failing are related to the hard shifting problem and if I just didn't catch on fast enough before it screwed with my engine. It's all being covered under warranty. I will be getting more information about it soon.
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