Sounds like classic torque converter lockup clutch shudder. If it was my van I'd change the fluid first if it has never been done- and quick to prevent accelerating clutch wear, and then go from there.
A lot of folks are skeptical about 'fill-for-life' fluid claims, but such a thing is technically practical for 200K or more lifetimes in passenger vehicles. In a previous job I evaluated the condition of factory fill ATFs from consumer vehicls MY ca. 1996-2000, having service (all in Texas so high T but no hills) of 85-135Kmi, one each of light truck/SUV and automobile each from Chrysler, FOMOCO and GM. I compared that to similar data collected 5-6 years before. Observations were:
1) Of all the vehicles, only the 135Kmi one showed measureably degraded friction properties- though no driveability concerns- and it had experienced a fluid leak early on in it's life (would've been disqualified from the test if this was known before it was sampled, but it was reportedly serviced with factory fluid).
2) The RWD vehicle's fluids appeared marginally better than the FWD, suggesting lower severity despite possibly heavier duty cycle (towing/hauling).
3) The previous study showed generally poorer fluid durability despite the sample cohort having on average 10K fewer miles.
It was clear from the data that ATFs in routine service could last in excess of 100K, and that the performance had been improved in the factory fill fluid from the early- to the late 90's (and has presumably gone up in later specs). If the fluid's properties haven't changed but the parts are shot then it's they that aren't as 'durable' as the lubricant.