could you give a little more info about the truck like what motor, tranny, mileage, what the truck was or is used for ie towing or haulling or just a daily cruiser. a problem as small as hesitation could mean different things on a different truck. if it was just a cruiser then a fluid change might clear it up and maybe run a bottle of slick 50 tranny fix, or if the truck is a workhorse or has the miles racked up on it then it could mean something in the tranny is gone.
but if you have no idea how old the fluid is, go ahead and change it and i would recomend the slick 50 tranny treatment. you have to run the motor while you put it in and it will take about 30-45 minutes but it works. used it on my dads van, the tranny was so bad you could barely drive it. added the slick 50 and all problems went away and never had a problem since.
EDIT: i just noticed that you didn't say whether it was tranny or motor, i assumed it was a tranny problem. but if it not then the same idea of providing more info and truck history still apply.