Orange Virus Tuning, or OVTune is a software upload for our Tacomas that adjusts the engine mapping and shift mapping in the transmission. It's definitely an improvement. Like others, I hated the shift dance in my truck and it's now highly improved. It's not gone, but it is better. I think they weight of my truck has a lot to do with it still dancing.
More info can be found here...
https://www.ovtuned.com/collections/tacoma-3rd-gen/products/toyota-tacoma-2grfks-calibration
The OVTuned thread on TacomaWorld is a disaster. 1,600 pages of non stop off topic banter, but yes, I've read it all. I can answer most any question you may have. That said you can also search for all of OVTuned's posts there and just read through those but even then they somewhat lack context and can be hard to understand without it.