Emtsrus

I have a 2001 Toyota Tacoma 4x4 V-6 automatic. The problem I'm having is when I get in the truck to leave the house, it goes from 1st gear all the way to overdrive or perhaps lock up. The thing will shutter and sometimes shutter at 10mph when I stop then it quits without killing the motor. Transmission shifts good with the shifter but doesn't feel right. When running down the road at 55 and want to pass another vehicle it shudders till it hits the next gear. Had a code check ran and it seems to be a lock up solenoid malfunction. My question is will a solenoid change fix the problem? By the way it's intermittent, sometimes it works good but most of the time it feels like it's struggling to pull its self. Just need help with this issue. Fluids good and has been replaced along with filter. It's a supercharged V-6 with 128000 miles.