Transmission problems?

So I have an 01 Acura MDX and about two weeks ago I started noticing a problem with the shifting. It's getting worse as it goes and need help identifying the exact problem to avoid unnecessary costs. Firstly, it would take off after pressing the gas and then once it shifts it would jerk. It started getting worse with the jerking but it still shifts, just hard. And here recently it is having problems downshifting as well. Yesterday, it would not shift in reverse no matter how long I tried. Today, it went in reverse though. The problems arent really on a pattern. I've put in Honda's transmission fluid hoping for a change, but to no avail. I also tried using that Lucas stuff that's suppose to stop hard shifting, but it didn't help much. One of my friends father said he believes it is a filter because if it was the transmission itself it would not shift at all, but I'm not familiar with these car parts and what the symptoms are, so I'm not sure. Any help is appreciated!

If you take your car to a transmission repair place, they have a computer that they can hook up to your car and see what the problem is.

Time to take the car to a professional transmission expert. Do not take it to any of the chain outfits. Either take it to a Honda or Acura dealer or a trusted independent shop in your area. They can tell you what the problem is.

The transmission filter and fluid need to be changed every 50,000 miles. If you haven't followed this procedure, do so.

That year Honda and Acura models had problems with the torque converter shelling out and taking the tranny with it. There was a recall on it.

Unfortunately, your transmission is more than likely failing. Honda/Acura V6 automatic models made from 1998-2005 had a design flaw which resulted in the automatic transmissions having high failure rates. My neighbor has the same exact car and his developed the same problems so he decided spend a lot of his own time to replace the transmission with a used unit himself which unfortunately will probably not last very long. I also had a friend who went through 3 rebuilt or used transmissions on is old Honda odyssey minivan over the course of 40k miles before he finally got rid of it. The filters on these models are not replaceable, you've done what you can to remedy the problem but now it's time to think about getting a new car because it's definitely not worth taking the risk with replacing these flawed transmissions.