shifting from park to drive in 2013 grand cherokee

When I shift from Park to Drive, it sounds like it is stuck and races very loud.  I
have to pull over and put back in park, and then shift to drive. Most of the time I
only need to do it once.  But today, I had to pull over 3 times.  This happens
when I pull out from a red light.  Maybe happens once a week or two weeks.
Jeep still goes, but sounds like it going 100 miles an hour.