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2002 TJ auto tranny problem

i have a problem with the auto tranny slipping between 2nd and 3rd gears, mostly when its cold, but way bad when i am rock climbing on a 45 or steeper degree obstacle. i have had the fluid changed out so its clean and full. its hooked up with a Atlas 3.8 transfer, 4:11 gears with 33" tires. been to a dealer they said it probably needs a overhaul. would like any input from you all before i go that rout.
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