Delayed/Soft Reverse &/Or Forward Engagement
WARNING: This page is about a different car, the 2002 Mazda 626 and 2001 Mazda 626. However, it is still accessible from the selected car via links, so may be relevant.
Check fluid level, axle shafts and CV joints, engine/transaxle mounts, shift linkage, line pressure, restricted oil filter, valve body, forward clutch assembly, reverse clutch assembly, low/reverse clutch assembly and direct clutch assembly.