Engine will hit rev limit when pressing on gas hard and wont shift

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VIN 3B7HF13Z91G238153 2001 Ram 1500 4X4 5.9L Laramie, automatic trans No MODS I bought this truck used with about 167K miles on it. If I am sitting at a traffic light and accelerate at normal it will make the transition through all the gears. If I have to accelerate hard the engine will rev up to rev limit then the computer will cut power so it will not over rev. However during that process it will not shift to the next gear. If I try to pass someone it will downshift but the same problem occurs. Revs to limit then computer cuts power. Also when I stop place the vehicle into "R" it "slams" into gear. I currently get 11.8MPG I have been told that I need to take it to dealership and have them hook it computer to check TCM. The ATF fluid is full, does not smell burnt and there are no codes from computer. Please help I drive the truck every few days to work and it is becoming a hazzard when pulling out into traffic. Thanks Mark