I drive a ton of miles in this truck (25k per year nowadays), I usually let the truck idle for about a minute before moving. I've done that with pretty much every car/truck I've ever owned. I do sometimes feel like the transmission is confused in first gear, when idle. I do feel a slight rumble in the cab, I think that is due to the truck trying to do cyl deactivation. I've never seen a CEL on, so there is no point in paying for the Dealership to look at it. (Ironically, turning it off and on again disappears that)
I've thought about doing a automatic transmission fluid flush when I see about 50k miles. Not sure the dealership costs, but if it's within reason I'll do it due to driving it so often. I keep referring to the manual, but it doesn't look like much needs to be done until the spark-plugs.