I have just bought an IS200 - It has done 37,000 miles and find that getting into second gear is klunky. There are loads of posts on this site regarding this. I think there is a general fault that can affect these gear boxes.. (especially,most people say, when the box is cold.) I'm not that impressed with the gear box at all.
I've have some other problems aswell and frankly wished I had brought something else.