Toyota 2012 Highlander Owner's Manual page 157

Changing shift ranges in S mode
Shift the shift lever to the S position and operate the shift lever.
2.7 L 4-cylinder (1AR-FE) engine
The initial shift range in S mode is set automatically to "5" or "4"
according to the vehicle speed.
However, the initial shift range may be set to "3" if AI-SHIFT has oper-
ated while the shift lever was in the D position. (→P. 181)
3.5 L V6 (2GR-FE) engine
The initial shift range in S mode is set automatically to "4".
However, the initial shift range may be set to "3" if AI-SHIFT has oper-
ated while the shift lever was in the D position. (→P. 181)
2-1. Driving procedures
Upshifting
Downshifting
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