That's normal. I thought my transmission had problems the first time it happened with my 2001 in the Colorado winter, too. I don't have a copy of my '01 owner's manual with me, but I think I found the answer in it. My '18 owner's manual says, "During extremely
cold temperatures (-16°F [-27°C] or below), operation may briefly be limited to first and direct gears only. Normal operation will resume once the transmission temperature
has risen to a suitable level." IIRC, it wasn't that cold when it happened, but it had the same signature.