Car wont take off on D unless I heat it up

I have a 04 nissan sentra ser and when the car is cold and I turn it on it wont take off on D but it will take off on the 1 and 2 and reverse but it wont take off on D till about 10 minutes after heating up its like I put it into D but I dont hear the transmssion gear changing. Does anybody have an idea what it can be also Ive noticed when im taking off and im pressing on the gas peddal it feels like im forcing the transmission it kind of yankes the transmission and the the next gear goes in.