************UPDATE************
I forgot to let everyone know that in September of last year we found out that our RR speed sensor wasn't working anymore. I paid $55 for a new one but after finding out that you have to take 5 pieces of trim off to get down to the wiring to unplug the old speed...
I took it into two different transmission shops and the second one found the problem: p0733 which means that my third gear ratio is messed up. I took it into a shop in the afternoon but the car was driving fine so when they took it out they didn't notice anything wrong. They checked the fluid...
Did you find a solution to your problem? I'm having similar difficulties when the car is cold. I'll start my car up in the morning and it goes into first just fine but it often won't shift into second unless I take it out of 'drive' and into 2 manually. It will then go into second but won't...