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Are you purposely trying to keep it below 20 mph to exhibit this behavior?
My '14 does this in the morning when I first start out.
My suggestion is get it up above 20 mph and get to 3rd.
I can watch and see that the gears are NOT changing. It only feels like it is changing gears.
I am at the end of a very long cul de sac street so its a bit difficult to get above 20mph leaving this neighborhood. Between the kids and the older people everywhere doing so may result in all kinds of stuff being thrown at my truck. Once I get out of the neighborhood at about 3/4-1 mile away, this behavior stops.
Dealer issue, or just deal with it?
In my case the neighborhood speed limit on base where I'm TDY is 15 mph. Strictly enforced, so I have to be barely in the throttle and it lurches and is throttle sensitive , very throttle sensitive in the first 1/4 inch of pedal travel. But once warmed up, you'd never know it. Only after sitting overnight.