Car shifts hard 2-3 gear and shudders in D5 and D6 at low speeds under 50 mph...shifts hard into reverse

What is your question?

These shifting issues dont occur until the motor has warmed up and the car has been driven for a few minutes..the car shifts perfectly 1-2 gear but 3rd gear shifts very hard unless the gas pedal is not used..D4 and D5 gears shudder between 40 and 50 miles per hour..the car does not misfire and cranks every time.

What makes this problem better or worse?

When the engine is warm

How long has your 2006 Lincoln LS had this problem?

Since I bought the car used 3 months ago