V40 D4 automatic hesitation
 

I own a D4 2017 automatic model with 20000 on the clock. Occasionally when pulling away from stop it seems that the car hesitates and takes a couple of seconds before it starts to pull. It feels like the car is drifting and not in gear. Obviously my normal reaction is to accelerate even harder and it then jumps forward. I have had the diagnostics from a main dealer garage and it seems everything is fine so not sure what to do, especially as it is Ok for most of the time.

Any ideas gratefully received.

Is it a little like an automatic handbrake?