FYI, went to local dealership and explained to the service manager this issue and he immediately confirmed that the fix is flushing the transmission fluid and replacing it with a different type of fluid (not sure about all the specs). Am having this done Monday morning and will report the results some time next week. BTW, also getting nitto ridge grapplers 305/55r20 installed, truck has rough country 2 inch level up front.
Also noted that the issue really wasn't present until the transmission fluid was at least 88 degrees or warmer.