Thanks for responding!
Car has 170k I've had it 2 years and it was driving without any shifting problems.
I recently had passenger side CV joint replaced and it was very difficult to remove. A lot of banging, etc...
Have not had any tranny work done
Fluid has not been changed, but it's full (I always check) and is not discolored and does not smell burnt.
Inspection on lift showed no dents and connections looked fine.