My 98. 5 has had that problem along with hard to get into 1st gear. Sometimes I have to turn off the engine then it goes into reverse. Sometimes I start in 2nd when traffic is waiting for me to go. I have about 67k miles. This problem existed when new, but eased up some for a couple of years but never completely went away, then got worse again.
There has been other discussions on this topic the last year that you can search for. No one that I know of has solved the problem and the dealers don't seem to consider it a problem. Some have blamed it on their clutch and said it improved after changing the clutch. Some say that it is caused by the clutch not fully releasing. However, I don't buy that because it should also affect 2nd gear and you should be able to feel the problem when shifting while in motion. My problem exists only when standing still.
I intend to have it into a dealer again before my warranty is up next month to see if they will do anything about it.