Check the fluid level to start with. If level is ok, then the filter could be stopped up, or there could be internal damage.
If it is slipping in those gears then it is time for a rebuild. no EASY FIX
Means that the transmission is delaying going into the next gear.
The engine also jumps when changing to Neutral and Drive. Should I have transmission fluid change? A/C was not on.
Transmission temp sensor can cause a slip or high rpm before shifting to next gear.
because the transmission is going out, it need rebuilt or replaced
Yes. From low fluid, plugged filter, or an internal failure.
A 1994 Mazda Miata's automatic transmission may slip in 4th gear if the bands are heavily worn. When the bands become worn, they are unable to grip properly and cause slippage.
a blown transmission
A slip yoke is when the end of the drive shaft in a RWD vehicle plunges in and out of [most likeley] transmission when rear suspension is flexed.
The Traction Control Circuit on your automatic transmission has noticed a difference in rotational speed (RPM) of the two drive wheels. If it comes on when the tires are not slipping, then a mechanic should be consulted.
When a auto trans is cold the clutch bands hold better but after they get hot they slip. Find a transmission shop asap.
The bands may be weak, it may be low on fluid.