So I had this exact same issue. After reading about it a bit I decided to pull the transmission pan and change the fluid/filter. Turns out the majority of my problem was that the fluid was brown near the bottom. You can check with the dipstick and it looks red, but all the particulate sinks to the bottom where the dipstick doesn't really reach. My fluid had a milky white color near the bottom of the pan, as well as having a larg amount of particulate on the magnet. So if you are having this issue the first thing that I would do is spend the 40$ to replace your gasket, filter, and fluid (that's probably going to be less $ than a diagnostic fee at most shops) and should only take you about an hour (prob less time than taking it to the dealer and waiting for them to tell you nothing is wrong).
The issue was worst when the car was cold, and during the winter in general. But after some driving, and soft pedal work it clears up slightly. But when I finally gave in it was doing it routinely (whether warmed up or not). Stop signs were the worst.
After changing the fluid it performs perfectly. Every once in a while if you jump out on the gas while its cold it will still 'slam' into gear, but as far as I'm concerned you could do that to any car if you didn't let it warm up for a min or two before driving it.
I'm fairly new to this forum so sorry for reviving an old thread, but this looks like exactly the problem I had, and no one had posted a solution.
Nasty Magnet
As you can see the fluid looks nice and red, but in the above picture you can kind of see how dirty it is. It was nearly black once I emptied it into a clear container, far from the nice, clear, cherry red it should be. Long story short, don't trust the dipstick.
