2007 Chrysler Town & Country transmission

Transmission does not engage immediately. Have to tap accelerater before it engages. Even when it fully engages does not shift properly tac at 3000 rpm

How many miles are on it and when is the last time the transmission fluid was changed? For that matter, when was the last time you checked the fluid? If you’re lucky you just have low fluid. If not, you have a more serious problem. Take it to a good independent transmission shop and see what they tell you.