I don’t have an answer for you but I’ve experienced the same thing with the car being learchy into reverse or drive. I really hope this isn’t the case because I don’t have the money to spend on something like that. It has been doing it on occasion for years and I think it got better when I serviced the trans fluid. Hopefully yours isn’t giving out on you. For the record, I too have an 04 Intrepid SE with the 2.7 42LE combo.I have 2004 2.7L Intrepid SE with the "Chrysler Ultradrive A606 (42LE)" transmission. When I go in reverse it hesitates/slips (sometimes very "grabby"), took it to an experienced mechanic and was told it's trying to go into First and Reverse at the same time due to a hydraulic seal failure that's letting/trying to engage both Frist and Reverse gears at the same time.
The deciding determination by the mechanice was by turning the engine off while going in reverse, it then rolls in reverse smoothly (I verifed that). There are no OBD codes flashing, tranni fluid level is as should be and fluid color looks clean.
I have not heard of a tranni doing this before and can't find anything online (may not be using correct search words), has anyone experienced this? Short of a tranni replacement, any ideas what may be going on, maybe the mechanic made the wrong determination and it's something else?