Thanks for the video, it helps. It sounds like the transmission filter is clogged up which can make the noise in the video and the erratic shift patterns. I would drop the transmission pan and change the filter out here is how the job is done in the images below and I have included a guide to help walk you through the steps.
https://www.2carpros.com/articles/how-to-service-an-automatic-transmission
Check out the images (below). Let us know what happens and please upload pictures or videos of the problem so we can see what's going on.
Images (Click to make bigger)
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Wednesday, June 7th, 2023 AT 10:15 AM