Okay my car is beginning to slip when shifting gears, most notably from first-second and second-third. Sometimes when shifing into second it just kind of misses, then kicks in real hard. I do notice a slight burnt smell after the gears slip. No smoke or anything. Not that big of a deal, but worried it could get worse.

 

That doesn't sound good....

If you smell burning things, then it's probably too late for a fluid change to do any good. Stuff is already worn out. Wouldn't hurt to try, but don't be too surprised if it doesn't help, and the trans continues to do what it's doing, and only lasts another couple hundred miles. Once they start doing that, the end is usually not far off.