yeah it's that annoying why do I have to do this every time I get into my car thing.
my old prelude had that.
It seemed like it depended on how I parked the car. As in, was there any pressure on the driveline. I got in the habit of making sure the weight was on the e brake, and sometimes leaving the shifter in reverse if I was going to be backing up when it was time to jet. Of course this was an 82 Prelude,.... but the mechanical concepts haven't changed all that much.