Thanks for everyone's input on transmission flush and jack points. I replaced the fluid with some conventional GL-5 (and yes ... I made sure that I could remove the fill plug before I drained it), and I think it made a difference in the smoothness of the shifting. A big part of this improvement may be that there was only about a litre of oil in there.
I have a transmission leak and thought that once I got it up in the air I could have a better look at it. I may have found the problem - I think there's a studded bolt missing/broken off in the rear cover. See photo - shouldn't that hole to the right contain a bolt/nut like the other two?Click to view attachment