Yeah, I'd definitely do a filter and fluid change.
You may also want to have a shop do a "real" fluid change for you. You can't get all the fluid out in the driveway. But some shops have machines that'll run clean fluid through the trans for a while and make sure ALL the old fluid is out.100% fresh fluid and a new filter will probably make a huge difference.
http://www.bgfindashop.com will help you find a shop nearby that can do a trans service for you.
What color is your trans fluid? If it's dirty, it's already past due.