You should always fill the transmission fluid .... then while on the hoist .... select forward and reverse gears and load up the auto trans a bit .... this pushes the new fluid through the transmission ... then top up again ... then take it out for a test drive to make sure shifting is fine.
I find on the really cold morning -2 deg C and less that I need to let the car warm up a bit before driving off .... just helps a bit as well.
But to me it sounds like you auto trans is low of fluid ... best to get it serviced
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