i need your guys help,

I have a 2000 SS A4 and the shift from 1st to 2nd gets delayed a bit and my car make a hard "jurk"(...or pull, thats the best i can describe it )

This happens when i accelerate slowly and only when i haven't drivin it in a few hours. once i drive it a bit (about 2 or 3 miles) it starts shifting fine again.
when i punch it a little i cant really notice a problem.

took it to the dealership and they told me "cell is running as per design" (...its good in other words)

Have anyone of you experienced this before? anyone know what might be wrong? am I not warming it up enough? i know these cars like to run, so does it just dont want to go slow?

thanks guys, all answer will be appreciated