RX8 slightly jerks when switching from reverse to drive
 

Hey everyone,
purchased my rx8 about a month ago and Ive been having a minor issue with it, nothing too serious dont know whether i should do something about or what it could even be. So basically when i pull out of my drive way and place the car in reverse, as i go to put it in drive, it seems to take a couple of seconds to actually go. like 2 seconds, nothing drastic but still worries me. when it does finally go in drive it jerks only once, not serious either, just a light jerk. I dont know what this could be, could it be a lack of compression in my engine, or transmission problem? Any help would be much appreciated.

2004 Mazda RX8 93,000 miles
Automatic fully stock

How is the level and condition of the transmission fluid?

Tranny fluid and filter. R/R if not done recently. Start there.