1995 Toyota 4Runner Transmission sluggish

I recentlt bought a used 1995 4runner that has been a money pit. Currently the problem is when starting a trip the first time shifting in 3rd gear it hesitates before finally shifting. It can take 1/4 mile before it finally shifts. After that it shifts through out the gears just fine. Can this be solved with a transmission service or is most likely going to need major service?
I had the fluid inspected and topped off at a recent tuneup but unfortunatley they didn't fully service it.