I purchased this van in 2016 from an older couple and noticed that there was a slight hesitation with the automatic transmission when shifting from 2nd to 3rd. After changing the trans fluid and filter to 100% synthetic it improved.
Lately I’ve noticed there is a greater hesitation when cornering.
Is this solely transmission issues or could there be another problem, such as the drive shaft bearing or joint?
Most likely just transmission related since you did see a change in the transmission function when you changed the fluid and now it is showing similar signs. The best approach would be to see if there are any transmission codes stored in the computer that may indicate otherwise. Possibly a failing wheel speed sensor, etc.