Yes - disconnect the Neg terminal on your battery for about 1 minute then reconnect it. You will lose whatever Radio presets you had before, but it will force the ECU to "re-learn" YOUR driving habits.
If you like the "Sport Shift" mode, then I'd suggest romping on it good for the first 40+ miles to make the computer learn aggressive driving style and give you a (moderately) better shift response in D.
Unfortunately, the '06 and '07 are plagued with the dreaded "shift/accel Lag" that the 04/05s had, but Toyota hasn't given us any fix on it to date.
I've added a TRD exhaust and an Injen CAI intake which helped the accel lag, but the shifting is still really unpredictable and slushy. I hope they have a TSB for us sooN!!
Good luck!