My 2000 Grand Cherokee, which is an automatic, has been doing the same thing. It's always the first 2 minutes from startup. I will be just out of my driveway when I press on the gas and it makes a revving noise but isn't able to pick up speed (almost as if I switched gears into neutral). Then, if I just coast along for a few yards, I am able to put my foot back on the gas and I have no more problem for the rest of the ride. I brought it to the shop and they couldn't find anything wrong with it.
How long has it been since you had the filter & fluid changed? A partially stopped up filter can cause what you describe. However, so can worn parts inside the transmission. What you are experiencing is a clue to a problem that may get worse and more expensive to repair the longer it goes untreated.
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