Transmission hisitates every now an then and shifts real hard on take off. Been serviced twice since baught new,133,000 miles. checked fluid ok. On normal take off speed it might go 5` then it seems more like it hesitates for a split second ,then catches hold and then shifts good . Not all the time,just here and there for now.

Check your transmission fluid level as soon as possible.
If you are experience hard transmission shifts, it is possible that the only problem is a low transmission fluid level. Low transmission fluid level can change the operating pressures of the transmission as well as reduce the amount of lubricant present between the clutches and bands and raise transmission temperatures. All these things can cause hard or jerky shifting. You need to identify why the transmission has a low fluid level and refill it as soon as possible.

First, check the level and condition of your transmission fluid.
Have you had a standard transmission service performed in the past 50,000 miles? If not, DO IT NOW before the transmission fails completely.
The transmission service should include ALL NEW FLUID, NEW FILTER, and NEW PAN GASKET.

How many miles on your truck? Have you checked the transmission fluid level? Have you ever had the transmission serviced? I mean real service...remove the transmission pan and replace the transmission filter and fluid?

If you have your owners manual, there is a section containing the capacities for all fluids. You may also simply check your fluid level, with a running motor and warm transmission. If the stick indicates add, start with a 1/4 quart and work your way up. Unless there is a problem with the trans, there is no real reason to ever add fluid unless your are flushing the transmission.

1 Inspect Clutch Disc Contaminated Clutch or Pressure Plate Surface. 2 Inspect Clutch Disc Worn or Damaged Clutch Pressure Plate. 3 Inspect Clutch Disc Improperly Adjusted Clutch Cable or Linkage. 4 Inspect Transmission Shift Linkage (Manual) Loose or Worn Shifting Linkage. 5 Inspect Clutch Disc Broken, Missing or Weak Clutch Disc Springs. 6 Inspect Clu 1 Inspect Transmission Modulator(Automatic) Modulator Leaking Fluid into Vacuum System. 2 Inspect Transmission(Capacity) Fluid Level Incorrect. 3 Inspect Transmission Fluid Type Contaminated Transmission Fluid. 4 Inspect Transmission Filter (A/T) Clogged or Dirty Transmission Filter. 5 Inspect Automatic Transmission Internal Transmission Problems.tch Disc Broken, Missing or Worn Pressure Plate Diaphragm Fingers.

You are going to need a transmission shop. Mazdas do not always throw codes. You have an early OBD transmission, which do not send out many codes.

Check the transmission fluid level and condition. Make sure the level is correct, if it is then it may be time for the transmission for service. The transmission service time is every 30,000 miles, and if it has not been serviced the Transmission line pressure solenoid could be gummed up with dirt. Have the transmission fluid flush and the transmission oil filter replaced and hope that helps. Hard shifting is a sign of fluid restriction in the valve body in the transmission and will lead to a costly transmission failure. Good luck and keep me posted, the other thing to that would give you a hard shift is a bad throttle position sensor. But that should have given a check engine or service engine light on. 

I agree with the suggestion to service the trans but no transX, just new fluid and a new fluid filter, if that doesn't help then you will need more seriou work.

I would check the transmission and engine mounts but also it may be time for a transmission fluid change. It has a service interval just like oil. 50000 miles