Dude, you are experiencing the mysterious 3,000 rpm hesitation. People have spent a ton of time, energy and cash trying to solve this mystery. Some folks get lucky and it's as simple as a bad coil, while others replace everything with zero luck. My car has had this problem intermittently for eight years now and it pisses me off every time it does it, but I am not about to chase my tail on this one. If I lived near a competent shop like Larry, SOS, etc..., I would simply drop it off and say fix it!
I wish you luck and hope you are able to resolve this easily. However, in the mean time, simply let the car warm up before heading off. Not a very proactive solution I know but it does work.
Cheers