Yep..it sounds symtomatic to low fluid level related problems.

The only way to check is to get under the car and on the transmission valve body oil pan are two screw plugs. Unscrew the one that is in the corner and higher than the other. Check it..... when its warm, You don't have to run it on the freeway but get it warm then put it in park, set the brake withTHE ENGINE RUNNING. Climb under the car and unscrew the plug.. If fluid starts to immediately start to come out... then the fluid level is fine....If it doesn't then you need to add fluid..

Its very awkward to add fluid without a "low boy" oiling system like you see in transmission shops. So bring rags it can be a little messy

Go to AutoZone and get a "gear oil" pump (about $10)..Looks like a giant hypodermic syringe for a dinosaur It comes with a clear plastic tube. Attach the plastic tube to the pump and be sure to taper the other end on the tip of the tube with a knife or razor blade as the plug hole is a tad too small for the tube. The pump will hold about 1/2 to 4/5's of a quart.

Once it starts leaking out reinstall the plug..You'll probably have a small puddle of oil on the floor by this time...take the opportunity to take a "wiff" and see if it has a "burned" smell. Also is it red or light brown? That is good...dark brown that's bad. The smell when its bad is identical to that smell you get when an electrical appliance shorts out, like a blender or mixer and there's a flash then phifffftt!!

If you get the "check trans" light take it to a dealer and have him put it on the meter and pull the trouble codes. If it is just low on fluid then you need to find out where its leaking from??? Its a completly closed non modulated system and it does not evaporte.

On the other hand if the fluid is up...probably best to have a mechanic look at it anyway and advise.

Good luck
J