Vehicle: 1998 Jaguar XJR

Very frequently if I park my car where I have to go in reverse to get out of a parking spot, when I turn on my car, and push on the gas pedal I get no response. I try switching it into drive, park, and then back with no change to response. After a minute or two it kicks in, and I can reverse as normal. It has also happened to me a few times when I start it up, and try to drive in drive.

Anyone have an idea of what could be causing this?

I also just noticed if it happens, and I put it into park and rev the engine, when I switch back it works perfect.