I've noticed that when it was cold out the tranny would act a little funny when you put it in reverse right away ( i.e. not go into gear right away, make gear noise, engine surge)
Someone else here suggested to start the engine, hold the brake and put it into reverse (or drive) for about 30 seconds before moving. I believe this was to allow the pressure to build up fluid in the torque converter due to a fluid drain back issue? We do this simple procedure and now we have no issues with the tranny or surging. Our torque converter and pump were replaced at about 20K miles during F37. Luckily the PCM F37 programming didn't stick.

Now at 69K miles.