What can be done about occasional rough shifting?

More details: Usually on throttle, but not hard. Vehicle mileage currently 105K, but it has been doing this since we bought it about 3 years and 40K miles ago. No warning lights. No transmission service.

Consistency is a GOOD thing! After 40K miles , and with the total miles where they are , maybe the theory 'if it ain't broke , don't fix it' would be something to think about. Possibly just a basic fluid CHANGE not a 'flush' , would help? Don't really think so if it is primarily a 'downshift' problem. MAYBE have a reputable trans. shop test drive with you , so you can demonstrate the symptom , and see what they think. Might be something real simple , or you may just want to let it be! My '95 Camry is at 371,683 miles and the trans has been on the verge of falling apart (if I was to let a Toyota tech look at it) for over 100,000 miles , no sign of quitting yet!ALL original , also! Good luck.