FWIW, it happened to me the first time I replace ATF in my Camry.
When I started driving it the next morning, it was surging.
I thought I damage the trans, so I brought it to my mechanic.
All he did was top the fluid.
I drove the car for another > 100k miles before I sold it.
As far as damage, you will never know unless you open it up and measure everything with a caliper to see if there is any wear or do an oil analysis.
Last edited by JMJNet; 02/21/20 03:44 PM.