My first assumption was the same as
@NickTransmissions transmission isn't locking up after gear shift. Closely monitor your fluid and transmission temp if you have gauge for that. Heat kills transmissions.
In my opinion, what happens over time, is the valve body wears out especially if fluid isn't well maintained. If you do a flush
could in theory clog the valve body as debris get's loose in it. However, dirty fluid will also prematurely wear out a transmission so pick your poison. If your fluid is clean, there's no need for a flush though.
I recommend, drain a quart of fluid, you can suck it out through the transmission dipstick tool with a pump. Then add 1 quart of Lucas Transmission Fix / Stop Slip. This fluid is designed to address the specific issue of a worn valve body. You can add up to 2 quarts but start with a quart and see if it gets better. It won't hurt anything either way. If it helps then I'd suspect the valve body is a little warn. You can keep driving it and or replace the valve body.
I suspect personally a LOT of transmission issues originate at the valve body. The gears don't lock up immediately, transmission overheats, and destroys the clutches. If you catch it quick enough, you can replace the valve body. Most shops don't want to do that but it can be done w/o dropping the transmission. It's a fairly simple job.
It's possible it's something else, however, the most catastrophic thing would be your transmission so you want to make sure that's good as per above, possibly more. I'm not as familiar with your control system / PCM. they changed them up sometime after the vehicles I have. You computer is a torque management based computer instead of airflow management. I think I have the terminology correct. Anyways, an issue with say a throttle body can cause hesitation as well as multiple other sensors because computer reads a desired torque (gas pedal) then commands that through TAC throttle actuator control, then reads various sensors to see if output torque is desired amount as well as a safe amount.