I bought my 2005 S 4x4 w/auto new in 2005. It has 38K miles. It seems to shift really soft under accelleration. When I let up on it, it takes 2-3 seconds to upshift.

99% of my driving is on road. I'd love it if it chirped the tires from 1st to 2nd but I doubt it has the muscle to do it. Therefore, just a firm shift will do. Does anyone know how to get a firmer shift? Any adjustment or aftermarket equipment to do this?