The transmission in my 2002 Honda Odyssey is on the way out. When cold, it tends to slip from 2nd back to first and sometimes also does weird stuff in 3rd and ultimately goes into limp mode. I did the troubleshooting for the relevant OBD code and it looks like the transmission itself needs to be replaced.
However, all of these problems go away once the engine/transmission get hot. If I drive around in 1st for a couple minutes after starting the car, once it warms up I can switch it to drive and everything seems fine.
When I drive around in first it will rev up to about 4000rpm or so (going 40km/h), and I'll usually stay between 2000 and 4500 for a full 4 or 5 minutes. The red-line on the tachometer is at 6250rpm and the guage goes up to 8000.
Am I risking any damage to the engine, or any other non-transmission components, by babying (or is it abusing??) the vehicle like this?