What I can tell you is, I traded a 2014 1500 Z71 4 wheel drive, 5.3 with a 6 speed in for a 2018....., reason was TRANSMISSION issues, it would thump and bang. GM provided me with a document that stated it was "a normal operating characteristic" for this truck and nothing was wrong with it. It eventually got ALOT worse.
My 2018, 1500, Z71 4 wheel drive, 5.3 with a 6 speed transmission, needs a new transmission and torque converter with 75,000 miles on it. Had a slight shudder, off and on, that started around 55,000 miles. It elevated to the transmission slipping horribly, when I dropped the pan it was littered with ground up metal covering the bottom of the pan. Now I have to replace my transmission and torque converter, $$$$$$$$$.
If your dealer told you there are no issues with the 6 speed transmission, he is either lying of just plain stupid.
Find a dealer that will acknowledge the problem and help you get it fixed, before it cost you a whole lot of money! It is NOT normal and it will NOT go away. Ask about a complete transmission fluid change, (around 14 quarts including what is in the torque converter).
Good luck!