So, I’m going to throw this out and you can do what you want with this information…
Like the A4LD that the 4R44/4R55/5R55 transmissions were based on, they carry on some similar things, like the #2 and #3 bands do need adjusted from time to time and the reverse servo O-rings can leak. So as long as the fluid isn’t burnt in it, I’d say at minimum, fluid and filter change, adjust the bands, throw new O-rings and a gasket at the reverse servo. Sounds potentially intimidating, but it’s really not hard and the worst part is it’s a messy job. That may or may not change your performance complaint, but it’s still a good move.
My 92 (it’s an A4LD, but like mentioned, a lot of this stuff is similar), it had mushy shifts and such. I did a shift kit and some valve body work, plus what I listed above. Absolutely massive improvement. I wouldn’t hesitate to do that to another transmission, shifts were firm without being jarring and I went nearly maximum on the optional things to improve performance. I’d probably just do max everything on the next one I do.