My transmission slips the first time going to into reverse if I dont use the Jeep often and more so when the temperature gets colder. Once the Jeep is used it never happens just first time during the day. I had the transmission fluid and filters changed and it seems to be better but not resolved. Is there any additives that I can add to help this issue with?

That's a classic sign of a worn reverse clutch. The cold, thick fluid exposes the wear. Since a fluid change helped, it confirms internal seals are hardening.

Avoid additives. They can clog sensitive parts. The repair is a transmission rebuild to replace those worn internal clutches. It's just going to get worse over time.