Right after I start my car and put it into gear (doesn't matter if it's reverse or drive), sometimes the RPMs will drop and it seems as if the car is struggling to keep running. Sometimes it'll die.

I notice that if I give it some gas when it's doing this, it'll rev up the engine as it's suppose to and will be fine afterwords.

As far as I can tell, this seems to only happen when it's cold (probably 20F or colder). During these times the check engine light will come on randomly, not all the time.

My Milan is the 2.3L I4 automatic.