Just to close the loop on this thread. I myself don't feel comfortable doing the job. I took the LR4 to an independent shop up the road who only works on British vehicles. I left it over night so the mechanic could drive it cold and feel what I feel. The mechanic called me later that day and told me, he felt the hard shift on gears 3-4. He checked and rechecked for codes, ran diagnostics and looked for updates and nothing. He also reset the modules. The mechanic also said the transmission is a sealed transmission good for 150k and saw no signs of leaks. That was 2 Fridays ago and I needed my truck for the weekend so I went and picked it up. My plan was to drop it back off the following week to have him diagnose it a bit more. The following week I called back down and I spoke to the mechanic. He said there was nothing for him to go off of and recommended I take it to the dealer, since I did still have a 3rd party warranty on it. So, last Friday, that's what I did. 8am I was at the dealership and I let them have a go at it. The only issue was I couldn't drop it off the night before, so when I got there everything was nice and warm. The dealership ran all their diagnostics and checked out everything and gave it a clean bill of health. I did ask them to check the fluid level for me, but they said the transmission fluid needed to be between 75 and 80 degrees and it was currently at 145 degrees Fahrenheit. They said the truck would need to sit for 2-3 hours before they could check.... I didn't have the time to hang out all day for the fluid to cool down.
At this point, I just let the truck warm up for 5 min before heading out and everything is fine. I really don't know what else to do unless I go mucking around with it.
The first guy didn't charge me anything. The dealership charged me $70. In the 3 months I've had the LR4, I've taken trips to WV, FL and SC with no issues other than the hard shifting when cold. Once I get some time, I may try and peek inside the tranny to verify the fluid level.