2021 AT Tacoma "jerks" when I let off the gas

When I'm cruising at 20-40 MPH and let off the gas I feel a small jerk as the car starts to slow down. At higher speeds (above 50 MPH), there isn't any jerk when I let off that gas - the car starts to slow smoothly. Any idea what's going on? I'm thinking that there's resistance in the drivetrain/wheels/etc that can't be overcome at low speeds.

Car has 10k miles on it and is a 2.7L 4x4.

 

Truck shifting to lower gear. Normal, you feel it more in these trucks

 

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Thanks! So it'll shift even though I haven't slowed down? I wonder if it's going all the way into 5th for MPGs and then immediately downshifting to 4th or 3rd or something so if the car needs to take off it can... does this sound right?