New Guy | 15 DCSB AT Feel & Sound Question

Got a 2015 DCSB V6 with only 18k. My one and only previous car was a little 4 banger with a CVT transmission. I'm still trying to get used to the feel and sound of not only a truck but also a conventional transmission. I never realized how flat feeling CVT transmissions are until I no longer had one. My question is...

At low speeds is it normal to feel like the truck is hanging on to first and second gear, almost waiting longer than you'd think to shift, letting the engine roar nice, long and loud? I first noticed this when driving through a neighborhood to look at houses with my wife (exciting right?). The neighborhood slow speeds, speed bumps and stop signs made me notice how long and loud it seemed the truck was in lower gears.

I'm sure this is a no brainer to most people but being new to a truck period, I'm just trying to make sure the sounds and feel of my Taco is normal and I'm not overlooking anything that sounds like a problem.