Joe Quintavalla

Greetings, first time in this forum I have a 2000 Outback, When I put it in drive it takes time before it gets into gear, often it hits hard and jumps. Once in gear everything is fine. there is no problem putting it in reverse. Transmission places and Subaru say transmission is fine (true while driving) or I was told this is unusual because this type of problem would happen in Reverse, not Drive. Any suggestions?