ZF8 hp70 selecting into D from N or P

[Sitoo1980]

Hi

I have a 640D and When after a period of hard driving and stop the car and put it into park, when then select into D there is a 2 second delay and violent jolt to engaged into D.
Does not happen when select into R.

Gear change is still perfect when driving.

When cooled down again till cold and start up and drive normal it's fine.

Only after a period of hard driving, anyone else experiencing this? Or know what it may be?

Gearbox oil was changed in May this year

Any feedback would be much appreciated