LoFlyer is right. Its in the manual. Its normal and more pronounced in cold weather.

 

I think I had the same problem you did.. I put it into drive and it would take about 3 or 4 seconds to engage and it would kind of jerk it into gear, not to bad but there was a hesitation followed by a jerk. Had it in to the dealer about 3 or 4 times for this until they finally fixed it. They were very helpful and understanding the whole time, I could not believe it. They ended up rebuilding the transmission and I have not had a problem since.