It sounds like you need a rebuild of the transmission more than a fluid change. On many cars, the transmission filter is actually inside the tranny. What I mean by that is that changing the filter would still require dropping the transmission down to do so.
My experience with transmissions says that you could spend a lot of money flushing, changing fluid, etc. and still wind up needing a rebuild (which will require changing it again) With about 80K on the car, it might be smarter to just go ahead and do the rebuild.
Your mileage may vary, void where prohibited.
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