review this TSB.

The remote start was already installed when I purchased the VX. I noticed very hard shifts that I thought were due to the mode selector switch. However, if I would stop and restart the VX with the key, not the remote, everything was fine.

The second paragraph in the TSB describes the problem I have. For a work around, I just remote start it....wait for it to warm up, then shut it down. Then I start it up with a key.