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UPDATE: -Changed the transmission fluid today, the old fluid is almost pitch black with a burned smell! Strangely, the filter was absolutely clean (almost AS new) and no signs of metal flakes. Am I still in the safe zone?

It shifts perfect in normal operation temp, the problem is only when the vehicle is cold.

No, the car's transmission ran fine until very recently without oil change, it struggles to shift to the 4th gear until the engine is close to 4000rpm when running at cold start.

Due to neglectance, the car has ODO of over 100k miles without transmission oil change. Now there's a slight delay between the 3rd and 4th shift. Does that necessarily means the transmission needs a rebuilt? Or just change the oil w/filter?