Hello everyone! A few years ago I received a 2011 Ford Ranger with a 4.0L V6 4x4 with an automatic transmission when I turned 15. It now has almost 80k miles on the original....everything.

Ever since I got the truck, it shifts hard in to reverse ONLY when the engine is cold. Talked to some mechanically inclined people about it and they said it wasn't anything to worry about. Sure enough, I've had the thing for 2+ years and have had that same jerk every day and reverse still works just fine.
However, recently I noticed that there is a jerk when shifting from 2nd to 3rd gear. This problem occurs usually under moderate to heavy throttle for the most part. I was wondering if this could mean the transmission is going out? If anyone could help that would be awesome!