my car fails to engage at stop lights, it hesitates, then kicks in

What is your question?

after using my car for about an hour , or sometimes it takes all day to occur when I come to a stop sign or stop light and I step on the gas to go the car fails to engage , it bumps and hesitates , now this only happens once in a while yet it is doing it more as the miles go up , which is at 19,400 , we just had it checked but they found nothing and looked at me like I was nuts , The check light does not come on at all ... any suggestions , my husband is thinking something with the transmission ?

What makes this problem better or worse?

No rhyme or reason

How long has your 2019 Ford Escape had this problem?

about a month