Hard shifting once car is turned on and running in high rpms on 2004 Kia Sedona

Once you turn the car on and started driving it would run the Rpm's very high then do a big jerking motion, after that it would shift gears normally but at 55 mph would be going at 4000 rpms. The transmission was replaced under warranty 2 years ago. We have replaced the crank sensor and speed sensor, and time belt- still the problem remains $1,800.00 later. help!

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