2004 e53 m54 3.0

Already scanned / run diagnostics

* no stored codes that will hint transmission slipping
* battery charge test was OK

Symptom: switching the gears to D the truck won't move, I need to rev up a couple of times before it moves forward. After that it feels fine, no check engine light or battery light.

Frequency: SUV sitting overnight ( 1st start every morning and on cold temp 20F and below )