Based on your description, it's clear that the issue with your 2015 Honda Pilot is related to the transmission. Here's what you need to do:
First, check the transmission fluid. The symptoms you're experiencing can be caused by low or old transmission fluid. Make sure the fluid is at the correct level and is not overdue for a change. Honda generally recommends changing the transmission fluid every 30,000 to 60,000 miles, depending on your specific model and driving conditions.
Second, consider the possibility of a draining torque converter. If the torque converter is draining back into the transmission when the vehicle is off, it would take a few seconds to refill upon starting. This could cause the transmission to slip if you shift into drive before the torque converter is fully refilled.
Finally, given your vehicle's mileage (107k), wear and tear on the transmission could be a factor. Worn seals or internal components could be causing this issue.
While waiting a few seconds before shifting into drive might mitigate the issue temporarily, it's not a long-term solution. You need to address the root cause to prevent further damage. I strongly recommend getting your vehicle inspected by a professional who can accurately diagnose and fix the problem.
Oh, and don't continue the abusive practice of putting your transmission in drive immediately after you start your engine. That's like swinging a baseball bat hard and letting it go between your legs, then coming here and asking us if you should do it again. That's why I replied with a facepalm meme earlier.
One more thing: step shift automatics have oil pumps. Yours might have a worn out oil pump. When the clutches don't get enough fluid, they tend to slip and jerk, and if you continue this practice, you will burn them out in no time.
Take action and get this resolved. Good luck with your Honda Pilot.
