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I have a 2002 Millenia base model with 97,000 miles. Here is the situation:

- When I start from a dead stop , the transmission has trouble engaging with the shift lever in "D", it pauses for a second (or more), makes some noise, then engages. After that it works great.

Here is some other facts:

- It doesn't slip at all between gears.

- I just had the fluid flushed today and the slippage is the same.

- There are NO check engine lights on.

1. From standing stop - in "D", "Hold" OFF - Slips (pauses for a second, engine revs, then jerks into gear).

2. From standing stop - in "D", "Hold" ON - No slip or pause, works great.

3. From standing stop - in "L", "Hold" OFF - No slip or pause, works great.

4. From standing stop - in "L", "Hold" ON - No slip or pause, works great.

5. From standing stop - in "S", "Hold" OFF - Slips (pauses for a second, engine revs, then jerks into gear).

6. From standing stop - in "S", "Hold" ON - No slip or pause, works great.  

same with me on the 3rd gear