Just to be sure I understand what the issue is, when you shift it into gear, there is a harsh engagement and then it moves and shifts just fine?
If this is the case, I suspect we have a motor mount issue.
Lift the hood and shift the engine and see if it moves when you are shifting.
I am attaching the info from the manual on how to replace both mounts. Please run through this info and let me know what questions you have.
Images (Click to make bigger)
Monday, January 24th, 2022 AT 3:51 PM