They do have an update for the PCM for shifting problems that these vehicles have had.
Check with your dealership for these updates, If those don't cure the problem, the vehicle should be under warranty still. Hope this is helpful. If the transmission fluid has been changed or fluid added recently make sure the right fluid was used.
ASE Certified Technician
California smog licensed, ASE ceritied in L1, A6, A8 for over 30 years professionally