It's possible there is an electronic fault or a more serious internal mechanical condition causing the transmission to slip as it warms up. After parking for a bit the transmission cools down and often they will work better for a while until they warm up again. To start with I would have the transmission controller checked to see if there are any service codes and then have it test driven by a transmission specialist when the problem is occuring to get his opinion on it. It does sound a lot like a slipping clutch pack from what you describe however which would require the transmission to be removed to fix the problem. Good luck and hope this helps out a bit!
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