I would definitly try replacing the oil, also make sure nothing is loose and have the front end and the suspension checked also.
Check the fluid levels. Start the engine and leave in 'park'. Find the transmission dip stick (back left as you face the engine). Fluid on the stick should be healthy clear pink/red with no smell of burning. If Brown with burnt smell this means change the fluid and filter immediately. If low add extra transmission fluid (check hand book for type) via the dip stick tube a pint at a time until maximum limit is reached.
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