When shifting from Park to Reverse, the transmission would shift very roughly. It made a loud sound and the car would shake as it shifted into Reverse gear. The problem was repeatable throughout most of the day. However, later the problem went away and did not come back. I took the car to the dealer out of concern that the transmission could get damaged if it happens again. The dealer could not recreate the problem but updated the Transmission Module Software which shifts the transmission at a normal speed instead of high speed. It has only been 10 days since the software change, but it seems to be ok so far.