I have had to let the vehicle idle until warm upon start to get any acceleration. If I don't and try to get in start and go the gas pedal just revs the engine producing no acceleration.

What could be the problem for this? Spark plugs? Transmission?

 

Have you tried all gears, 1st, 2nd, R, etc?

Is the trans fluid full?

Do you feel the trans shift into gear when moving the selector? Indications such as a slight bump or sound, RPM drops slightly.

A trans shop can do an hydraulic pressure test. The trans has a pump that generates trans fluid pressure to allow the trans to shift. Could be the fluid pressure is too low when cold.

 

All gears? It is an automatic. Drive and Reverse equally.

Last I checked all fluids were appropriate.
I do feel a shift when putting into gear.

I will look into a transmission pressure test.

 

The trans can be manually shifted into 1st, 2nd, etc.

If you can feel the trans shift when putting into gear and no forward motion in D or R then have the trans looked out.