My Suzuki Grand Vitara XL7 shifts hard from park to reverse or drive?

JessicaC

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2003 4WD V6 Automatic XL7
When it's sitting for a while and I start it and shift from park to drive or reverse, it shifts hard and jolts. It's much worse when it's cold, so much to where the tires screech. What is this?
 
You need to let the car warm up a bit, the engine runs rather fast on 1st startup and when cold.. You may also want to change the trans fluid if never done...
 
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