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The groaning is the ebrake and/or rear pads releasing. Normal sound, especially on this car.
It's very very common for automatics to be lurchy we shifting from park to drive/reverse when cold and especially if you're still in the cold idle.
Lastly, the automatic transmission fluid is stone cold which also can lead to lurchiness, a slamming affect when shifting from park to drive or reverse, laggy shifts, etc. until it gets up to temp.
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