Fluid and filter change to start. Also try a full reset of the trans adaptive learning. Either with a good scan tool that can clear these tables, or do a capacitor discharge for the truck. Disconnect negative cable from battery and isolate it so it does not touch the negative terminal. Put a small jumper wire from the isolated negative cable to the positive cable/terminal. This will discharge the capacitors in the ecm and tcm, and revert back to the base tables and clear the adaptive tables.
I would do this after a trans service though.
After that, could be a sticking solenoid(or scored bore)in the valve body. Solenoids attract all the ferrous metals that don’t make it into the filter, and this builds up around and in the solenoids causing them to stick/release hard, subsequently you feel this in shifts.
