you definatly have an idle problem which you should address before breaking something (Transmission, flex disk, half shaft or more)
There's no computer to boot, there is no wait necessary for the idle to stabalize at the normal RPM.
If everything was normal, you would start the car, and by the time the oil pressure is up, idle should be low enough you can shift to D or R before "All hell breaks loose"
defective/dirty Idle valve, vacuum leaks, sticking accelerator linkages, faulty idle switch and many other causes are possible.