Yes
It's probably a problem with your catalytic converter.
It could be the source of hard shifts. In an electronically controlled transmission many sensor inputs determine shift times and firmness. If the back pressure of the exhaust is reintroduced through the exhaust gas recovery (EGR) valve to the intake then the power control module (the car's "computer") may interpret this as heavy engine load and raise the transmission line pressure to protect the transmission from slipping. This will be felt as hard shifts.
bad catalytic converter
A torque converter can cost anywhere from $129 to $249 dollars. A torque converter is what allows the transmission to shift gears.
balls. balls will slow shafting
Parking brake not released, bad torque converter, bad transmission shift solenoid or bad transmission in general, broken shift cable not engaging the transmission.
One of the reasons a transmission might not shift into overdrive could be a problem with the belt drive inside the transmission. Belt drives can be stretched over time. Another reason could be that the transmission fluid is low or very old or the filter is clogged.
Most likely causes are low transmission fluid level, dirty transmission fluid, or clogged transmission fluid filter.
If your car revs up without shifting and misfires, it could be a clogged catalytic converter. If the computer senses too much back-pressure it won't shift. Since the Clean Air Act requires an 8 yr / 80,000 mi warranty on cats, I'd recommend having this check out before you spend money on the transmission.
Plugged air or fuel filter? Plugged catalytic converter?
Torque converter or the transmission oil pump getting worn or a valve in the transmission is sticking.
Sounds like your torque converter needs replacing