It's hard for me to tell if it is coming from the engine or the transmission, if it is from the transmission, you can run it by any major transmission shop and they will perform a scan of the transmission controller to see if there is a problem in there, they also dont charge for this diagnoses.
If it is in the engine you can also run it by any major auto parts store and they will scan the engine controller(computer) to see if there are any diagnostic codes present, if no codes, then, more than likely it is fuel related and i doubt the fuel filter has ever been changed, because it is on the fuel pump, which is inside the gas tank. You will need to have the fuel pressure tested with a gauge to confirm this.
If you have further questions on this, please feel free to reply.
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Below is what you would expect to pay at the dealer if it is the fuel filter and/or the fuel pump. If it is in the transmission or engine,,,the price for repairs depends on what it is. But if you can see if there are any codes in the system, you might be able to track it down.