There is a TSB out that many of the early Commanders had a defective trans filter that would crack and let the anti-drainback valve leak, i.e. after it sits overnight or longer, all the fluid will drain out of the torque converter and back into the pan.
It is possible that would cause Noise and Harsh Engagements, it can also cause no motion for a few seconds or even more, until all the fluid is pumped back up into the trans.
Read the TSB, see if it applies to your Commander, I think the fix is simply change out the filters with new ones, which means a fluid change as well. This is for the 545RFE that comes with the V8, the V6 came with the Mercedes W5A580 trans, which did NOT have the problem. Confirm that even, I could be wrong and you may have a Mercedes trans with a V8 or a Chrysler Trans with a V6.
Read your O.M., they have changed the service intervals and some recommendations over the years, so some people's post are NOT correct for your M/Y Commander.
30k miles sounds awful early for a trans fluid change, at least according to my 2010 O.M. If you are towing havy loads and/or doing serous off-roading, I would change the trans fluid at 30k miles, regardless of what the O.M. says, those activities can destroy your trans fluid in one outing, changing the trans fluid more frequently than recommended is cheap insurance for an expensive trans, to counter the extremely tough usage you put the vehicle through.
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