my 2005 with the 5r55s does this also
Mine would do it when shifted into drive... 5r55s on a 2010. ATF level was on the low side. The fix was to use the aftermarket auto tranny pan.... sold by AM. Provides for an extra 4 qts on a 5r55s. The version for the 6R80 provides for an extra 3 qts. On both versions, you get a locking type dipstick..... big enough diam, so you can add ATF if required.
I also added the JDM auto tranny catch can.... no more ATF puking all over the ground. Also added a B+M auto tranny cooler ( bar + plate type, 3/4" thick) in series with the ford oem Auto tranny cooler.
If you check ATF level in the morning..cold, it will read higher on the stick. Once up to 160-170 F... it will drop quite a bit....like almost 1"
IF the ATF is on the low side, it would have this delay when stuffed into drive..and also rvs. Once up to temp, it would not do it anymore.
The new pan is 2.1" deeper for the 5r55s. On flat level ground, the pan is also at an angle..lower at front end..where the stick is.
Not having a dipstick on the 5r55s drove me nuts...ditto the catch can + 2nd tranny cooler. Without the dipstick, you have no clue how much ATF is actually in there. You have to check it on dead level ground..like at most gas stations. It also takes a while to get the atf up to temp..like driving across town in 30 mph traffic. You can read the atf temp off the obd port on the aeroforce gauges etc. You can also see any slip on the obd port.