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Any idea on when it was last changed? Others would know better, but in general I would not expect a change to fix troubles, but may prevent them. Then again maybe it would help.
Most manufactures recommend changing transmission fluid every 30,000 to 60,000 miles.
It sounds like you don't know when if ever it's been changed.
I would take it to a trusted transmission shop (not a chain) and have them change the fluid and filter. DO NOT under any circumstances allow a shop t "flush" your transmission and DO NOT take it to some drive through Quickie Lube shop.
If your transmission is worn out (maybe as a result of not having fluid changes) changing the fluid isn't going to help but it it's shifting rough because some valve body is gummed up a fluid change may help.
It's hard to say if it would shift better but there's a benefit to getting rid of dirty oil and filters in terms of overall longevity.
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No harm in doing that but please take it to a competent store to have it done.
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