I got rid of a 2012 and 2014 because of that very reason op.Transmission seemed like it was cramming itselfs into the gears especially down shifting,all that herking and jerking.Bought a 2500 HD and never looked back.
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Tow capacity means diddly. It is still a light duty truck. I have driven road tractors, and a 3/4 ton is nowhere near as harsh as a road tractor.
The Tundra is aimed at the SUV/soccer mom drivers, that is why it is lightly sprung and has a soft ride.
My 2015 is the same and I only get 15.7 mpg. I hate the new transmissions. I drove a new Chevy and a new Tundra and they both had similar issues. The Ford had a couple thousand miles before it started. Forget trying to get the dealer to fix it. I already had them replace the controller, no help. I'm seriously considering building up an older truck.I have 25k on my '15 ford work truck. The rear end clunked from day one on a slow rolling start.
The trans can't stay in the right gear so I'm normally in the sport mode.(since It revs high on downshifts anyway)
18.8mpg
The worst thing is the stupid digital speedometer that says "press ok for kmph" all day every day.
I couldn't see spending the money on a new one.