Automatic Transmission won't Engage when Warm

Hi guys,
The automatic transmission of my 1995 sedan d15b7 (80k miles) stops working when the engine reaches its operating temperature.
When I first start it in the morning, the gears do engage when going to P-R-N-D4-D3-2, but there is a ~2 second delay before it does engage. When the engine reaches its operating temperature, the gears won't engage at all. If i shut the engine off and wait for the engine to cool down, it would work again after restarting.
Also, there is a whining (electric motor-sounding) noise coming from the transmission body when it is in Park or Neutral - but only when the engine reaches operating temperature. The noise disappears after a while.
The ATF is black with a green tint but not burnt-smelling (it is sweet smelling) and the fluid level is slightly above the maximum mark.
I haven't taken it out of my garage for fear of getting stuck on the road.
I think it is ATF thickness/viscosity related and i'm wondering if I should drain and refill it or what?
[Edit]
Forgot to mention that prior to this, the car would jump/jerk when the transmission would shift gears during driving. The jumping/jerking lessens, but not disappears, as the car warms up.
The automatic transmission of my 1995 sedan d15b7 (80k miles) stops working when the engine reaches its operating temperature.
When I first start it in the morning, the gears do engage when going to P-R-N-D4-D3-2, but there is a ~2 second delay before it does engage. When the engine reaches its operating temperature, the gears won't engage at all. If i shut the engine off and wait for the engine to cool down, it would work again after restarting.
Also, there is a whining (electric motor-sounding) noise coming from the transmission body when it is in Park or Neutral - but only when the engine reaches operating temperature. The noise disappears after a while.
The ATF is black with a green tint but not burnt-smelling (it is sweet smelling) and the fluid level is slightly above the maximum mark.
I haven't taken it out of my garage for fear of getting stuck on the road.
I think it is ATF thickness/viscosity related and i'm wondering if I should drain and refill it or what?

[Edit]
Forgot to mention that prior to this, the car would jump/jerk when the transmission would shift gears during driving. The jumping/jerking lessens, but not disappears, as the car warms up.