99 Ford Ranger Harsh Shift

I have a 99 Ranger with a 4.0L V6 and a 5-Speed AOD Transmission. The
transmission sometimes randomly hesitates on 1-2 or 2-3 shifts,
sometimes jerking the truck and sometimes the 1-2 shift will be so hard
that the U-joint pops in the rear. Doesn't break, just makes a loud
popping sound.

Also, if I am travelling in 4th or OD and I push the accellerator to
the floor, the downshift to passing gear will either be harsh, or will
downshift after a lot of jumping/slipping. I'm not sure if it's
slipping, but the whole truck shudders, like it's jumping in and out of
gear.

Any ideas? Would a valve body adjustment or transmission flush fix it?