What size tires are you running?
Should be smooth as silk and not displaying this issue... Take it in for warranty and have them check the fluid level, or do it yourself. Some have reported being underfilled from the factory. Good luck
Since this transmission has no dipstick to check fluid level, the correct level must be confirmed by an overflow plug on the bottom of the pan. The fluid temperature MUST BE between 46°C (115°F) and 56°C (130°F) to accurately check the fluid level. Toyota techs utilize the Toyota computerized scan tool to accurately verify the ATF temperature. Since most of us have no access to the Toyota tool, we must utilize method “B” and use the trucks onboard diagnostic system (OBD).
See here for more info on checking fluid level...
I would use my warranty first though