Have inspected the work performed by the shop?
Disconnecting the battery will erase the computers "memory" and it's learned values but I find it hard to relate to the issue at hand. How bad is the transmission shifting?
Is it just noticeable or are you afraid to drive it
How does the transmission fluid look? Has it been serviced regularly?
I think the only thing that may be needed is to drive it some more. These newer Toyota's have 'learned memory' and adapt to customers driving habits. These values may not have had enough time to relearn. I don't think anything major has happened but would keep an eye and ear out just to be sure. I checked with Toyota T.I.S. and there are no known issues with this particular transmission concern.
Please feel free to ask more of me.
I would advise you to drive it as you would normally. When these adaptable transmissions first came out, many customers would complain. The harder you drive, the harsher the shifting will be based on that style of driving. The softer the driving, the softer and less power the vehicle will exhibit.
The problem should go away on it's own and unfortunantly there are no adjustments that can be made on these transmisssions.