Only the first start from stop, or even after driving?

One of the current Chrysler torque converters (used in Durango and Ram pickups with 4.7 and 5.9) does the same thing after a cold start. It sometimes takes 2500 rpm to pull the dang thing out of the garage. After the converter fills and the trans pressure is up, it's all fine. In this case, it's poor design for a consumer vehicle. Dealers say it's "normal". I don't agree.