Tacoma 4X4 2019 Delayed Engagement Transmission

Hello, Im new to the forum TW and trying to sort out an issue with my Tacoma. Im in Nova Scotia Canada and bought vehicle Sept 2019. Now have 21000km on it. I am experiencing hesitation in gear engaging - experience a lag and then a lunge when it does kick into gear. Initially this seemed mild but has progressed to where I really notice it. I have been reading others with Tacoma's between 2015 - 2019 having the same or similar experience. Toyota is advising this is normal function but to me it can't be. This situation is not something in my control and can happen when driving, pulling up to or away from a stop. Concern is if it progresses it could cause an accident, and it happens without any warning. We also haul a small travel trailer too and this becomes even more of a concern. As I mentioned Toyota Canada has not done anything (that I am aware of to address this) and is advising customers and their dealer service techs that this is normal. Anyone out there with this experience or found a solution (other than sell vehicle)? I do enjoy my Tacoma - with this one exception. Feedback would be greatly welcomed.

 

Mine does it as well but only after a cold start and I start driving right away. Found if I let it ruin for a minute before driving takes care of it.

 

When cold is really clunky 1-2 shift or 2-1 when slowing to a stop. Or slow rolling start is bad since it downshifts then upshifts quick. Is just the trans programming. Mines done this for 30k miles