When shifting from reverse to drive. Torque converter hung up? Relay? If I put it in nuetral it idles fine but not otherwise. Doesn't happen all the time but about 25-50% of time.

Have you dropped and cleaned the pan, changed the filter, and refilled with Mercon ATF in the last 30,000 miles or 3 years? If this does not solve the problem, have a professional take a look at it.

Here's the procedure I follow on PSDs:

https://www.askmehelpdesk.com/cars-t...ml#post1873132