I have some experience with Automatic Transmissions in my past but not specifically with Toyota Transmissions. Correct fluid levels are very important check on flat ground and warmed up but not after working it hard like pulling a steep grade. I think this has already been covered at length. A clogged filter can also cause shift problems. So when you pull the pan look at what you find at the bottom of the pan. Kind of a muddy slime is normal, flakes are indications clutch coming apart a little bit is ok alot could spell problems. Fluid color black is not good brown need service now and cause some but they can clear up with a fluid change. Be sure to wash out the and don't leave the magnets out when putting it back together.
So when you pull the filter down either replace it or look up inside if you see a metal mesh screen you can just use some brake clean and hose it out and reinstall your call. Get a inch lbs torque wrench to put it all back Harbor Frieght has a 1/4 drive that can do the job pretty cheap too. If you just changed the fluid you can just put it back in if you kept it clean. When you get it back together make sure you get the level right when warm on level ground. With it all back together drive it for a while try manually shifting it up and down at about 50 MPH and use the throttle to do this also.
When I serviced my Transmission the OD worked poorly after the service and hitting the button for a while during driving it cleaned up quite a bit. If in the end this does not fix it you have lost very little. If it where me and it did not clean up I would search out a good transmission person as it shoulds like it is more of a valve problem and not a clutch problem.:hat: