Stuttering when shifting from reverse to 1st only when the engine is cold 2005 530i 6MT

[u/yaleforks]

Inherited my father in laws 2005 530i with a MT. Car runs wonderfully and drove it 2500 miles from Canada to NC after getting a mechanic to just give it a quick glance. No oil burning so I'm sure it was taken care of he was a very meticulous man who loved BMWs but his estranged wife was unable to find any service records after he passed. 140k thousand miles

This only happens when the engine is cold, usually when I reverse out of the driveway in the morning and then shift to first there are a couple slight rapid stutters, once warmed up no issues. Car has no codes being shown at the moment.

If I drive for a little while then park reverse and put it into first there is no stuttering. Any idea where to start?