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Mines like that took when starting from a dead stop or when the car sits over night by then its balances out if your concerns run it to a trans shop and have them test drive it should do it for free.
 

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You could try and have it reprogrammed with a scan tool. That will reset the shift points to the factory settings. A cheap way might be taking the negative battery cable off and letting the car sit for a few minutes to reset the computer, but the scanner would be a better option.
 

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Is it hard to shift from Park > Drive, or Drive > Reverse or any combination?
Or did you mean that the car is having a hard time shifting gears while it is running?

If the shifter feels heavy, then it could be a bad or stuck shifter cable. Quite a few of those reported with 2G Intrepids and Concordes.
 
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