My wifes 04 hemi Durango does the same thing. Mostly when the trans is cold.
I talked to my trans rebuilder, and he says it is common with these transmissions. He says they use hard rubber seals that are too small for the application, and that he has had very good luck with Hapco trans treatment. He says if you can't find that, put some Hapco or Lucas power steering treatment in, and it will cure the issue 99% of the time. The other 1% of the time he says drive it till it annoys you too much, and they can rebuild the trans with softer seals.
He says it won't leave me on the side of the road.
I just haven't gotten around to putting anything in, but will soon.