The Aisin you mentioned is actually Aisin Warner, a joint venture between Aisin Seiki and Borg Warner. Toyota acquired some shares but it has nothing to do with this technology, which is one reason why Toyota has been unable to popularize Aisin Tiptronic6AT in mid-range cars with a price of 200,000 yuan.
In other words, the patented technology of automatic manual transmission is in the hands of Volkswagen Group, so Japanese manufacturers are desperately developing CVT transmission.