SOLVED (for me at least). Here is how I fixed the issue! After hours of forum searching and talking to dealerships (who had no idea and wasted a bunch of money) and mechanics.... I was able to fix the issue for $180 total, after being told I would need a $4,000 transmission rebuild.
The issue is the torque converter sticking, even though it doesn't really seem to feel like it.
I fixed mine by changing the transmission fluid twice (shifting through the gears after the first change) and then running the car hard at high speeds. If your converter isn't seized up yet, and just sticking, this may work. If not, you may have to replace your torque converter. These two videos helped me get to a smooth shifting Edge...
How to change fluid at home.
https://www.youtube.com/watch?v=QH4fQxZFxwM
How do help your torque converter loosen up (I did not use any additives like he does during the fluid change, it is recommended that you don't. Start at 10:56).
https://www.youtube.com/watch?v=QOmAf1GvolU
Rare