I've got the exact same type of behaviour on my car and I noticed it was more noticeable if I drove the car harder (higher revs, quick shifting). After a while it gets back to normal. I suspect it's the clutch getting worn. Unlike your car, my car has super low mileage though, but the previous owner was an old dude whom I suspect probably burned the clutch while taking off or during parking, so regardless of the difference in our mileage, I would guess it's that.
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