Just on general principal, top up the fluid level. Be careful not to overfill: Overfilling is just as bad as underfilling! Transmission fluid levels are checked "hot," which doesn't necessarily mean that you have to drive the car a while before checking the level. The transmission pump circulates fluid through the transmission cooler in the radiator so idling the engine for a while will get the fluid hot enough to check. You can use that time to check for evidence of leaks under the car.
Before adding, check the level again with the car parked on a flat surface. Take a moment to smell the wet dipstick: It should not have a strong heavy "grapefruit juice" odor. Next, wipe the dipstick on a clean white paper towel: It should be redish not brownish. Then carefully top up the fluid level, again taking care not to overfill, and road test the car to verify if the symptoms you experienced were simply due to the low fluid level.
If you do not experience the symptoms you now have an inexpensive decision to make: "Do I do a maintenance service (fluid, filter, pan gasket) on the transmission?" If the fluid was brownish or smelled strongly of grapefruit juice, just do it. If it looked and smelled much like what came out of the container, but it has been a while (time OR mileage, or both) since the last transmission service, just do it. If a transmission service was performed recently, perhaps the person performing the service just didn't fill it completely or you have a leak. I have made it a point over the years to always check all fluid levels upon picking any of my cars up from service and have brought low dipsticks to their attention more than once!
IF, when dropping the pan significant debris is discovered in the pan you have a more expensive decision to make and I would take advice from experienced members like Joe (JA17), Dan (Benz Dr.) or Colin (stickandrudderman) on next steps.
