Drain CVT oil, remove the cvt oil pan, clean pan and magnet, remove the filter and wash it from the side where the O ring is, then blow with compressed air from the same direction. Put new CVT F-II . Buy 7 quarts, you will need 6.5quarts with filter removal. Then you will come here and thank me
I had the same problem and did this myself. You will love your car again.
THIS WILL VOID YOUR WARRANTY ON CVT. But as you can see dealerships are either unable to repair it because they do not know what to do, or they are just playing dumb, and at the end we are stuck with bad performing vehicles.
Note: there are two filters in our TR 580 cvt, you do not need to buy new because the one in the oil pan is serviceable (washable). Do not buy the paper inline filter because you will need to disassemble trans to get to it.
So make sure the oil pan, magnet and filter are spotless.
If you need more details pm me.