Thank you for posting this. I've had basically the same issue with my 2019 Silverado since it was about 6 months old. Multiple dealerships either told me it was normal and wouldn't even write it up or they couldn't duplicate the issue and sent me on my way.
I took a chance and ordered a new latch based on your post, but it did not solve my issues.
A few differences with my truck: I have a keyed ignition, not the push button, and the issue only happens when starting with the key. If I remote start, it never happens.
There are no stored codes on mine. Everything clears when I put it in Drive. Not Reverse, but Drive. I've heard from a friend that a similar issue on his wife's Tahoe was solved with a new TCM. Obviously I'm not going to get that without a dealer that takes me seriously.
Again, thank you for the post but YMMV.