Transmission problems with Lexus RX300 (1999 and 2001)?

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schabj3

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My fiancee owns a 2001 Lexus RX300. About 2 weeks ago her check engine light came on. She took it to Advance Auto Parts and they couldn't read the diagnostics. The car sometimes kicks/jerks a little when going from a stopped position to a slow acceleration but when up to speed (30-40 MPH) no problem is apparent. However, when reaching speeds of 50-60 MPH, the car does not change gears and it feels like it should. The car is will reach 4,000 RPM at 60 MPH and it sounds like it should switch gears (i.e. a loud buzzing/revving noise can be heard).

I've been reading some posts on other websites about people have problems with the transmission dying. I'm guessing we are not there yet but is there any quick fix to this? Will I have to take it to a dealer? Transmission fluid looks kind of low (only about a half inch to an inch up the dipstick) so maybe that is all it needs? Any advice/input would be appreciated!
I think there are about 125-135K miles on the car.
 
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