transmission hesitation?

So when I hit reverse to back out my driveway and then back to drive again, I notice it takes a few extra seconds before it actually pops into gear. This only happens when its really cold out and on the first start. Im talking like anything under 30F. I usually let the jeep warm up for about five minutes. But like I said, this only happens on the first start when its really cold outside. Once it starts to warm up throughout the day it goes away.

Is this normal? I have a 2012 sport auto. Its been doing this since I bought the jeep.