2000 Crown Victoria Transmission Issues?

I have a 2000 Ford Crown Victoria. I bought this car because of their superb reviews for durability and lack of repair costs… However mine, which I just bought, now decided to give me transmission problems. When I shift into reverse when first starting the car, it does a hard shift. But if I'm driving, stop and then shift into reverse, it doesn't seem to do it. Also, while accelerating quickly as if I'm getting onto the interstate, the shift from 2nd to 3rd is a hard shift also. I have looked up possible problems and I see too much to take in. I'm hoping my specific problem can be answered in one place. If you have any questions that would help lead to an answer, feel free to ask and I will post an update as soon as possible.
Thanks in advance!
I think there may be a trans fluid leak now also.Could the leak, although the fluid is full, cause the shifting problems? It might just be power steering fluid if not. The picture is where the fluid is coming from.2000 Crown Victoria Transmission Issues

91000 miles by the way

Are you sure the leak is transmission fluid? That looks like the oils pan right there, but its hard to tell.

As for your problem, you can try to do a fluid and filter change. To ease the shift from park to reverse, have you tried letting the car run for a minute before shifting? As for the hard shift while driving, sometimes this is common, you can anticipate the shift and let your foot off the accelerator.