Jumps in to drive

My 06' sometimes will not start until I turn the ignition key forward and work the gear selector back and fourth a few times. When I then put it in drive it takes one or two seconds to then realize that it's in drive and jumps forward. Usually it starts right up but I have the jumping into gear issue most of the time but not always. It always shifts into reverse and neutral without any issues.
I did a quick Google check and it seems to have been an issue for others and that the two problems are tied together but I didn't see a consensus answer for the toot cause. Has anyone else experienced this and what was the cause?

 

Thanks for the info!

 

Agree with the Shift Select Switch. It is on the side of the transmission.

Called the neutral Safety Switch, Shift selector switch, Park neutral Safety switch ... Probably has more names.

The official Name in the electrical schematics in the service manual calls it the Park/Neutral Position Switch.