Is Lucas Oil a good idea?

SOURCE: transmission/shifting 2001 Sante Fe - Hyundai

Sounds like you might have serious internal transmission problems.

As soon as you can, get someone with a code reader to plug in the vehicle and find out what the code is for the Check Engine light to come on. Might give you a better picture of what`s going on.

It could also (cross your fingers) be something more usual like a clogged transmission filter (located inside the pan), or shift solenoid.

By the way, have you checked the level, look & smell of your transmission fluid?

Level should be checked with the vehicle running, after passing it in all gear ranges on the shifter, and putting it back in park (Check it on "cold" or "hot" level depending on if it`s been driving for a while or not).

As for look and smell, it should be reddish and not smell burnt. Hard to describe the smell of burnt transmission fluid, but normal fluid does not smell too strongly, kind of sweet. Burnt oil is usually black and has a strong odor. If the oil is burnt you have internal damage to the transmission.

One piece of advice I give you is get it fixed as soon as possible because if you don`t already have serious internal transmission problems, the longer you wait, the more chances you have of getting some, to the point of the vehicle just refusing to move. And believe me, speaking from experience, the transition point from the symptoms you describe to total refusal to move and the need for a tow/transmission rebuild is not that long usually.

SOURCE: automatic transmission shifts hard and

have u checked the tranny fluid

SOURCE: 1997 Mazda protege transmission, Hard shifting from 1st gear

I would try a flush. If its set up like my 96, and it likely is, changing the trasmission gasket and filter will be difficult. Mine has a medal plug on the bottom and takes an allen wrench, and possibly a breaker bar. If you take out this plug, drain, flush then refill via the dipstick tube and a funnel, it may help. You may need to do this a couple of times due to fluid still in the torque converter, pan, etc.
Lucas is good stuff, I would add it again when I was done. The tranny fluid should be pink, mine looked like used oil black before I flushed it.
Also, when adding the new fluid, shift slowly up and down through all of the gears to lube well and check your fluid levels after 100 miles or so, as sometimes a bubble will form and make it look full....then not after it pops.

SOURCE: 2002 Ford F150 5.4L hard shifting

Have you ever changed the transmission fluid flush and replaced the transmission filter?

SOURCE: 98 Civic Auto Trans Slippage

you need to replace clutch pack for that gear can be ordered seperately from parts store or dealer if you want to save money call peach street auto recycling at 1800-365-2341 for a warrantied used one! also might be time for change trans filter and fluid filter could be slightly clogged but I lean towards clutch pack I replace these alot on Hondas