SOURCE: shifting from reverse to Drive
If your van has alot of miles, then just ignore it. Get a sevice done on it and let it warm up a bit and see if that helps the problem. When the miles get put on, especially with little maintaince, they have a hard time engaging "cold turkey". Another factor is that going from Rev to Drive(1st) you are going from energizing one accumulator to energizing two, and you're switching from the Rev clutch to the Underdrive clutch which tends to bleed off pressure the most.
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