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The power to the ignition coil comes from the Auto shut down relay. It also runs the fuel pump relay. When you turn the key on it will read 12 volts, but only for about 5 seconds. The auto shut down relay is controlled by the ecm. Check the power on the coil while cranking the engine. When cranking the ecm will lock on the ASD relay.
Try going in reverse for a few feet the next time it does it. I have had problems like that on my old dodge and I would go in reverse for a few feet and then it would shift fine. I hope this is all it is.