Originally Posted By: unDummy
If it is the original fluid, all you need to do is exchange the ATF now. The fresh fluid should improve the quality of the shift. But, that transmission is known to be a little harsh at times.
Use a full synthetic like Amsoil, Redline, RoyalPurple, Maxlife, Mobil1.... for your flush.
Undummy is right, do a complete flush with one of the fluids he mentioned and it should improve dramatically. I prefer the Amsoil fluid myself, I have have great results using it in both of our Toyotas. No need for any additives like lubegard.