Transmission Not Engage problems of the 2003 Toyota RAV4

I was driving my 2003 Rav4, entering a highway when the transmission failed to engage immediately when I accelerated. It hesitated for a few seconds then finally lurched forward. I was very nearly struck by a vehicle on the highway because I was unable to accelerate as expected. Now the rav frequently behaves oddly when shifting, sometimes refusing to upshift, suddenly downshifting at inappropriate times. The dealer advises the problem is likely a defect in the electronic control module (ecm) as covered in a TSB. From research recently I have learned that this ecm defect was a known problem beginning in 2006. I am amazed there has been no recall to repair this very serious safety issue. Now it appears I will be on the hook for a very expensive ecm replacement. Even though I have religiously taken this vehicle to a Toyota dealer regularly for maintenance, they never once mentioned this known problem. Yet when I discussed this behavior with one of the dealer's service advisors yesterday, he seemed quite familiar with this issue. Please call for a recall on this issue.

I have a 2003 Rav4 brought new at 0 miles with 92,000 miles never a problem or check engine light until may 31 09 on my way home from work the transmission did not want to engage properly. The car was taken to the dealers tech the next morning. They have always serviced this car they informed me that I needed a remanufactured 3122. 24 trans and a 1145. 89 ecu. I was never told that there was a problem with the ecu in this model or that a TSB had been issued. They was never a issue with the car before that one day yet these repairs are what I'm told I would have to pay for an issue that Toyota as it turns out is well aware of to the point of making and upgrade for the ecu but are not recalling. This is a safety is your trans just goes in traffic.