Shifting from park into reverse 2002 highlander

When I turn the car on on a cold day, it's hard to move the shifter from park into reverse or drive. It takes a few attempts while my foot is on the brake, I would say it takes me up to 15 seconds sometimes. Once I get into reverse, then it's fine. It shifts into drive easily. There's no thumping, clunking, car jumping, or anything like that. It just takes a while to move the shifter as if it's warming up or something. This only happens on cold days. I noticed it first last winter and then it was fine through January and February and only started happening again in the last couple of weeks. Is there some problem with my transmission?

When is the last time you changed your transmission fluid? Old fluid may be your problem.