My intrepid has only done this once or twice, but I know what you mean. It's kinda annoying. Sometimes it won't shift into R, and other times, it takes a few sec to shift into D. Then again, this was on really cold days, so that might have something to do with it... But my tranny slips now and then, not all the time, but sometimes. This is my real concern! Actually, I think it is more the differential, since the wheels slip and catch like I was driving on ice, but the engine revs do not fly up high, like they do in my old car that had a shitty tranny. Anyone know what would be causing this?