I know these transmissions are not even close to related, however, I have a VW passat does the same thing. It grinds a little if I rush the shift in 30 degree weather first to second. Once I get to the end of the street though, no issues. I don't know why, maybe the fluid needs to warm up.
My dad has an '07 vette. He has no issues, of course I have not driven in colder weather to compare, but it shifts 10 times better than his 2001. Absolutley no comparison.