A google search on this subject thows up quite a lot of discussion on the various Toyota forums, including a comment from HJ in the Telegraph about possible oil reasons for poor gearchange.
My opinion is, if the box is nice to use cold and still nice to use warm, i wouldn't worry too much about it, manufacturers often change oil specs during the life of cars when gearchange problems rear their heads, hence one dealer sticking to the orignal spec and others suggesting what they have found works better for any particular issues.
A thinner oil might be better for continual cold running, but might be too thin once warm, you say its driving well and that would be my acid test.
Its got fresh oil, thats the important thing, i've never yet changed transmission oils and failed to notice an improvement, i don't buy Gucci gear oils made from unicorn tears i buy 20/25 litre packs from long established suppliers of the correct grade (same as engine oils when on offer), the only difference in feel was when i bought some LSD oil for a particular rear axle, which seemed much thicker and stank horribly.
GL5 tends to be 75w90, but also 80w90 features and in one case, Mannoil 85w140, i bet you'd struggle to tell the difference between a 75/90 and 85/90.
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