2003 BMW X5 no drive in the Morning

When I turn on my car in the morning I wait till it worm up and then I put R and drive little back and then I go to N and then D when I put D the transmission did not activate I have to pedal on fuel so that it activate and when it activate all the day I don't have any problem if I turn off my engine and stop for hours I don't have this problem unless it pass approximately 7 hours than I have the problem again, other wise there is no problem and all the gear are working properly the is no problem at moving from 1 to 2, 3, 4, 5
i have changed the oil filter and the oil but still having the problem in the morning, they put it on scanner there where no fault so what is my problem?
thank you.