Just a thought, assuming all the resets were done (cannot be done easily on SPA), it sounds perhaps like the fluid level is a touch too low? That would explain why everything behaves once warm as the fluid has expanded slightly. I am only talking a small amount of course.
This is just a guess/thought, get proper advise!
I have changed my fluid 3 times no issues (Dealer kindly resets gearbox for me with a regular service)
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'19 V60 D4 Ins Pro 160k - '04 Civic type R - '19 Mazda 2 115
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