Whining is typically a sign that the pump is starving for fluid. Have you ever had the transmission serviced?
The harsh engagement/sloppy shifts could be a sticking valve etc. Typically the PCS will toss a code and give you max adapt shifting based on pressure issues. The rest of the behaviors you have described don't really fit with the pcs.
BTW, to get to the pcs you need to lower your trans mostly out of the car to get the side cover off.