Alright guys. Here is an update.

- I took my car to a shop and they replaced the transmission fluid as well as the transmission filter. The slight hesitation still exist.
My car is still vibrating at idle and I noticed that i'm getting bad mpg. I have been reading several of threads to see if others have fixed similar problems. Everyone seems to be replacing the sensors and making sure there is no leaks in there hoses. In addition, no one seems to have replaced their spark plugs and coils because it is expensive.
-I'm going to replace both the spark plugs and the coils to see if this fixes my idle problem and the slight hesitation between gears. The reason I'm doing this is because my car has 78K miles (close to 100K) and I keep hearing that coils on MB motors are a common malfunction. So well see what happens.