W140 S420 Tranny Slipping?

[woodroofguy]

Not sure what I should expect from the tranny. Looking for some insight before I take it in for servicing.

1999 S420 with 50,000 miles.
From a stop, and sometimes accelerating after braking, the transmission seems to have a short lag between engine rev and transmission catching. It feels a bit sloppy. Otherwise motor and tranny is silky smooth. Gears seem to be shifting fine.

Is this normal for a car with this many miles?
Is it an likely just an adjustment to fix, or is it a sign of worse things to come?

I think the car is still under a 5 year major component warranty in Canada and thought it should be checked out before this runs out.

Appreciate any feedback you might have out there.
Many thanks in advance.