I have a 2002 V70 XC that I bought with 130K miles.
When I first got it, it was doing some bad shifts between 2 and 3, but only randomly. I had the transmission fluid changed, which it turns out it seems to never have been done before (fluid was very dark).

After the fluid change, everything works fine, the shifting is flawless while driving. There is just one unusual thing happening which I don't think has to do with the transmission.

Only happens in cold weather, like bellow 40ish, and only when starting the car after its been idle for several hours. When I shift into drive, there is a 1 second delay before shifting, and when it does, it lurches. The oddest part is, if I give the engine a very small rev before shifting (like 500 rpm rev), then it doesn't lurch when I shift.

any ideas ?

 

They do that when cold
As long as it goes away in a couple of blocks, don't worry about it