2000 Acura TL transmission

If these transimissions were anything like the 2001's 02 and 03's then the trans may be getting ready to go. Mine was doing the exact same thing so I check the fluid and found it to be low and a little burnt. I do not think you can just add fluid to these, has to be pumped in at the dealer. I would check with your dealer since these were so bad there was even a recall on them at one point. I know it applied to my 01, im not sure about the 2000's