Hello,
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I would recommend you check the rest of your drivetrain. When started cold, the engine idle speed is a little higher and loose or worn drivetrain or rear suspension components could cause a harsh engagement. A common area with your year and mileage is the rear suspension lower knuckle bushings.These will wear over time and cause excessive clearance in the rear suspension. As for fluid additives, I would recommend sticking with the factory fluid only. I have never been a big fan of aftermarket fluids or additives, just my personal opinion.
ASE Certified Technician
Lexus Certified Master Technician