Automatic transmission shifts hard

Hi, check transmission fluid level and condition. Change it and the transmission filter if it's suspect or hasn't been done in 30,000 miles or more. That said, it's likely too late and internal concerns are likely present. I do not know which transmission or engine your F150 has - it could be a few different ones. But if not electronically shifted, it could be TV cable related or vacuum modulator related. Worth mentioning. https://repairpal.com/auto-repair-near-me