The Forester is a great vehicle, and No, it's not normal to have a 2 second delay when shifting into drive.
This is what I would do, and in the order that I would do it in;
1. Make sure your transmission fluid level is full. If it is;
2. Change the fluid and filter screen in the transmission. Your issue is small right now and the sooner you get it resolved the less likely it will become a major problem. Also, when we buy a used vehicle it can be difficult to know if it has had regular maintenance done it. If you still have the same problem;
3. Have the shift solenoid/shift motor on the transmission checked.
I hope this is helpful.
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