2001 Edge 4x4 automatic shifts hard
 

I have a 2001 Edge Ranger 4x4 5spd automatic that shifts hard when I go from park to drive or to reverse. I shift and then there is a 1 second pause then it shifts hard. I have changed the tranny oil and filter per factory and even flushed teh tranny once. It still happens. I'm baffled. Any ideas? I tried the search function but still confused.