Your car needs CVT calibration that too on Toyotas Techstream scanner.
Usually available only at Toyota dealerships. This service should cost you rs. 1500 to 3000 plus spare parts on top (throttle body service, Spark plugs and airliners if required)
Once you get this done. Next time never ever remove battery from your car.
When replacing the battery keep your car start or connect a spare battery.
To add, get its catalyst convertor inspected too.