Dear analogdad,
Hope you're well. I note your comment, "the fluid looked clean". Failed automatic transmission fluid (ATF) need not be dirty. When was the last time the ATF was changed?
Because the problem recurs once the ATF reaches normal operating temperature, I suspect the fluid is simply "worn out". At normal operating temperature, viscosity declines. Fresh fluid can accommodate this. "Worn out" fluid cannot.
See the FAQs for the ATF flush procedure. I'd flush with WalMart ATF, using 12 quarts. If that produces an improvement, drive for 1,000 miles and reflush with Mobil 1 (or similar) full synthetic ATF.
Please report on your findings.
Yours faithfully,
Spook
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