Finally did the transmission strainer and 6 quart exchange of transmission fluid. The greatest challenge was to get access to the front 2 pan bolts due to the transmission support. Managed to get a 10mm open wrench on them and slowly got them out. About 2 months ago the battery went bad so the transmission was rebooted and that helped the smoothness of shifting. The 6 quart flushed helped a bit more. I set the reminder for another 30K and wont be as fearful next time