2002 Prado 90 - Gearbox does not shift down after 400km

Hi, I have a 2002 Prado 3.4l V6 with 290,000km on the clock..my pride and joy. During a 5,000km trip from Johannesburg to Namibia last year, I experienced that my auto gearbox did not want to shift down after approximately 360km-400km continuous driving. I have to stop, put it in park, then autobox shift perfectly. Same happens everytime I drive 300-400km continuously. It is a big problem when on gravel as I loose traction as the gearbox is not responsive and does not choose the right gear.
I took it to Toyota and the computer system showed no errors. We changed the gearbox oil....no change.
I have noted on other forums it might be "Throttle Position Sensor" (TPS), which I have ordered now. Interestingly enough, Toyota did not have a clue what it might be and was looking through manuals where to allocate the TPS.

For interest have anyone else on this forum experienced something similar?

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