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after the engine and transmission are warmed to operating temp, when put in reverse, it takes a few seconds to kick in. then when its given gas, it still kind of jerks and shimmys. transmission fluid clean and proper level. tranny service not more than a year ago(approx 10,000 miles). never been abused.
I've had that happen with other vehicles when the fluid level wasn't right, the fluid level is tricky to check sometimes as the fluid has to be fully warmed to get an accurate reading (30+miles of driving). Mine was actually overfilled last time the dealer changed my tranny fluid , it read okay when cold but as soon as it heated up it read much higher (too high). If a dealer tech can misread the fluid level it could happen to anyone IMO. Checking it fully hot and after running it through all of the gears gets you the most accurate reading. Double check yours , otherwise it is likely a mechanical issue. Changing the fluid if it has a few miles on it is worth a shot too, despite being clean, approaching 30,000 miles is worth changing.