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The engine control computer for this vehicle has been redesigned to address this problem for this code and many other multiple shifting erratic problems. 2001 through 2003 had multiple problems with the engine control computer. If the computer was replaced soon enough usually it did not damage the transmission. Toyota produced a technical service bulletin with all of the corresponding vehicle identification numbers and computer-control numbers. If you need more information on that service bulletin let me know and I'll see what I can find otherwise if you do a Google search for this particular vehicle there is an outfit out of New York that claims to be able to rebuild the engine control computer with relatively good success. They are also listed on eBay.
any Idea what the outfit is called?
I don't remember the name of the outfit offhand, I can check this evening when I get in. In the meantime if you want to go to eBay's website and do a search for 2001 through 2003 Rav 4 engine control computers they are one of the first hits on eBay. Let me know if you cannot find it and I will look this evening and back to you.
I am glad you are able to find information completely. I have had several customers use this rebuilder for this computer problem and had good success. Good luck let me know how it works out.