I have the exact same problem with mine..Also the AR25...fluid has been replaced by dropping both sumps and renewing filter screen and getting back in around 6 ltrs of Dexrom III.No eveidence of amything was found in either sump.
After fluid change box was smoother but seems to hang in the change between 2-3 more often coming down the box,but does also do it sometimes going from 2nd into 3rd automatically..This can be confirmed by putting box manually into 2nd and then at around 2500rpm,s changing into 3rd manually.It seems to hold 2nd then "thud" from the rear end when 3rd eventually engages.
Have also had the "lost drive effect" where no drive is found then engine revs wildly .This can be restored by lifting of and coasting until enaged again.I have also syringed off a further 2 ltrs of fluid and replaced with new again in the hope that it may have been low but this has had no efect either.
It was suggested that it could be a solenoid possibly the 2/3 which a very kind OOF member has supplied me with a full set from and old box,however as yet due to weather and work commitments I have not had the opportunity to replace but am still undecided as it has only ever registered a "Gearbox Fault" a couple of times and with the extra cost of a further 10ltrs of AFT I am still deciding the best cours of action.
Car has covered 205k and has been maintained to a high standard. ATF has been replaced twice in my 140k ownership and each time Dexron III has been used and no sump contamination or debris has been found.
Will follow this post progress with interest