I've just stumbled across your thread (and am pleased to see that you might have it resolved), but...
My MY99 Td5 has a similar problem.
I describe it as a "rough shift from 2nd to 3rd". The 'box seems to hang onto the gear a little longer than it should and then there's a fairly loud "clunk" that could also be described as a "bang" and it'll shift up.
This has never happened on a downshift, only ever on an upshift.
It appears intermittently too - I can drive for 3 hours and not have it happen once, or drive for 5 minutes and it'll do it once.
I thought it might have been a worn/loose/damaged uni on the front propshaft. Upon removing the shaft and replacing it with a Tom Woods shaft I thought I'd solved the issue. But it still does it occasionally.
What is this Lucas additive you refer to please? If it can't damage anything by being added to my 'box I'll give it a go.
Edit: Sorry, just re-read the post earlier. Lucas Trans Fix. Added to shopping list.

