Transmission problems…I need expert advice…;-)

Hello everybody, I drive a Volvo XC70, built in 2006, Diesel Combi, automatic. The following, curious problem occurs: As soon as the engine is a bit warmer (e.g. after 20min drive) the circuit in the lower gears does not work well at all. That means the car no longer switches smoothly, but extremely jerky. The car then switches over extremely late, at least from 3000 rpm and then the next gear pops in (so extremely jerky). Someone knows the problem od he knows how to fix it? I don’t know how to explain it better, but it’s really like that. No matter if you give little gas or much…. Thank you for your tips, Stephan