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2013 Hyundai Santa Fe Sport - Slow trans

car startsand idles trans does not engage for 2 or 3 seconds
and will suddenly lurch forward. This also happens in reverse.I had a 2013 Hydui Santa Fe that did exactly the same thing

Doesn’t this car have a 10 year, 100,000 mile power train warranty?

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Does the delay shorten after driving a few miles and warming up?