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Re: Xterra Transmission ???
It could be the fluid and filter. Transmission fluid does break down over time and thins out, so if it's been that long since the fluid was changed, it may be time for some fresh fluid and a new filter.
Another possibility would be a slight blockage in the valve body. Not necessarily a full on clog, just a little gunk that may restrict the flow of fluid and cause the delayed shift.
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"Ok, systems check; the battery is discharging, the oil temperature is very high, the oil pressure is very low, the engine temperature is off the end of the scale, I'm running out of petrol... but the clock is correct!"
-James May, in an old, worn out Lamborghini purchased for less than £10,000. 
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