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This is a known issue with certain '03 and '04 MPV transmissions; my 2003 had the same problem. There is a Mazda technical service bulletin about this - 05-003/004 (Shift Shock). You need to take the van to a qualified shop and have them flash the transmission control module (TCM) with new firmware.
I had this done. It did not completely fix the problem but it did reduce its occurrence.