1995 Acura Integra How will I know.

Heyyy,

When I start up the car, it sounds great. It has a new engine in it about 80k miles on it, but the transmission has about 210k on it. After I let it warm up before heading out, I stick it in reverse and I feel the whole car kinda kick. When I put it back into drive to go forward, it kicks also, not as much, but still kicks. Is this a sign? When or how will I know when it's time to get the transmission checked?

Thanks!