Have you changed the trans fluid?
Drain and fill 3 times with short drives in between or I pull the radiator trans coolant line and let the old fluid pump out. Many post on changing the fluid.
Long post on fixing Delayed trans shifts. The TransX additive has been used by many.
When my 2002 Impreza Outback trans was acting up, a change to Amsoil trans fluid helped significantly.
Good visual inspection of the half shafts and drive shaft u joints. Drive in tight circles on dry pavement, is the dragging noticed?