Transmission removal due to delayed/loss of gear engagement after startup on Dodge Caravan

Problem Description and Possible Solution
If you experience delayed or loss of gear engagement after initial startup, the transmission may require removal and disassembly.
Problem Data
RepairPal Verified
Average mileage: 163,000 (163,000–163,000)
1 model year affected: 2003
3 people reported this problem
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When it is cold outside, the van will initially go into reverse, but when I put it into drive, it won't engage. Going through the gears, nothing, including reverse, will engage. After 2 to 3 minutes, it will go into gear and run like a champ. It happens only once a day, if I drive multiple times, even if completely cold, it will not repeat the delay in engagement.