Thanks for the feedback, it actually stopped having the problem after I posted this, but now its come back. I think the reason is temperature in the morning. Back when I had this problem, it was cold in the mornings, right about the freezing mark. Then it warmed up for a few weeks 50-60's, now it's cold again and the problem is back. In fact, it's colder now 20's in the morning, and the problem is worse.
I have a remote start, and when I start it in the morning, and let it run for 20 minutes, it makes no difference.
Also, i back out of my spot, and it shifts into reverse there fine. Then I shift into drive and drive to the end of the driveway, also fine. It's after I pull out the problem happens. Today I tried an experiment, drove to the end of the driveway (which is a slight downslope), before pulling up the hill. I shifted from Drive to Reverse, took my foot off the brake, and the car rolled forward, shifted back into drive, then into reverse, and reverse engaged. I then pulled onto the hill, same problem as normal -- wouldn't shift up, and car essentially feels like it's in neutral for about 2-3 seconds, then engages and the rest of the day I don't have a problem.
Trans fluid looks good when dripped onto paper as suggested.
Thanks for any advice!