Rough idle after shifting from reverse to drive

[Moparsforme]

I have a 2003 with the 5.7 Hemi and have a very infrequent problem that may happen only once or twice a year. I've had it since new and the first time was probably 4 or 5 years later. It seems that it only happens when you back up and then shift to drive. The engine runs very rough until you put in park and then it smooths out after just a few seconds usually. Has anyone else had this problem or have any idea what is causing it. Thanks for any comments.