autto.net

when engaging reverse and/or drive on morning startups or if allowed to park, cool and restart. Any advice in this circumstance?

It sounds like possible transmisson slippage saying that it's usually a sound a transmisson makes when it starts to slip.

There is a pressure solenoid inside the transmission that may be sticking when it is cold. This would cause the reverse and drive to engage harshly. Have a reputable shop use a tech scanner to scan the computer to check pressures and trouble codes.