I had this exact same issue with my 2016. I felt it was a safety issue - if I took my foot slightly off the brake the truck would actually surge forward. If I was slowly creeping forward into a parking space or garage, it was a little nerve racking. Dealer had no idea what it was. Like yours, it was intermittent.
When I sold the truck, I fully disclosed the issue to the buyer. Supposedly he had a diesel mechanic friend that said this was typical of these diesel trucks that have mostly city miles on them (which mine did, but sounds like yours does not). He said they just needed a good manual regeneration to clean them out. I have no idea if that is true or not, just relaying what he said.
Sorry I cannot be of more help - but thought I would mention that I had something similar.