RAV4 A/T Failure

Good day:
I have a 2004 RAV4 that applies well all cold changes but when heated, after about 15 or 20 minutes of walking, he does not apply 3rd or 4th, even it seems to be neutralized; If it accelerates thoroughly apply 2nd but it does not do the rest. The diagnosis does not yield any transmission DTC, only P0031 and P2238, O2 sensors that were already changed.
Greetings and thanks.