As noted, ATF is NOT the correct fluid for the cast iron NV5600... it uses synchromesh. The later aluminum-bodied G56 uses ATF. How well does it shift with the ATF??
As noted, I would get it out of there ASAP... NV5600s are very expensive to rebuild and parts are becoming more and more difficult to find. I would drain some into a glass container (somewhere in the middle of the drain) and see if it has anything odd suspended in the fluid (it should look metallic flaked with brass if the synchronizers wore)... personally, I'd have a UOA done.
The correct fluids are Pennzoil Synchromesh, Amsoil MTF, Redline MTL, or Royal Purple Synchromax... there are a few others, but these are the most common.
steved