Volvo “backs” when inserting the gear automatic transmission defective?

Hello, with my V70 D5 BJ 2003 automatic I have the following problem: Sometimes when I am standing at the traffic light and take the foot off the brake it takes 1-3 seconds until the gear “pulls in”. Bad, if I have already accidentally given gas. In my workshop the transmission oil was checked, everything ok. No entry in the error memory. Lt. my screwdriver should drive to Volvo and let the “slaught” be set (in the control unit). A demand at 🙂 resulted in the the Master had no idea about it. The question that arises to me: Can it be the D50 signal? What needs to be exchanged, cost? Thanks for your help, aloha, pat