Weird feeling in pedal after cold start

I've got a 2009 Santa Fe Limited 3.3l. After basically every cold start, I drive out of my survey (still in first gear). Once I get onto the main road and I believe after I shift into second, I feel 4 noticeable (but not severe) pulsations on my foot that come through the gas pedal. It's not drastic by any means and does not happen again until a cold start. It does not affect the car in any other way that I can tell.

Any ideas?