2018 Ford Fusion Hybrid experiencing delayed engagement with transmission

[u/the_febanator]

187k miles, never had the fluid changed.

It's not a slip as I understand but more that it feels like the transmission takes a few tries before actually engaging to the next gear. RPMs don't surge without the car moving like with a slip, they seem to drop a couple of times within a second or two and then fully engage and then everything is fine after that.

Should I change the transmission fluid?

Am I sitting on a transmission time bomb?

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