I have a 2000 ranger xlt 3.0 liter v6 automatic. When driving it shifts hard going from 2nd to 3rd gear. It also takes a second to shift to reverse. I check all the fluids and their all good.

 

When last did it have a pan drop, filter change & full fluid pump out????

 

Exactly, you don't just check the fluid and its good. If the fluid is not fresh, it will not flow or function correctly, and the transmission depends on that fluid being right. Just because its not low or burnt doesn't mean there is not something wrong with it. If the fluid is more than 30,000 miles old, it needs to be replaced.