experience with trans slippage?

Having trouble with transmission slippage, when almost at complete stop trying to accelerate transmission will wind then chirp the tires. Toyota states that there is a noted problem but nothing yet on fixing?

 

Is this when doing a rolling stop(not a full stop) and then hitting the accelerator? Common. I have to feel the tranny and not stomp on it to avoid this. I do it without thinking now. It happens at a full stop going up hill If I am towing. There is a windup before it goes. I had the accelerator pedal re-flash done too.

 

Yes this is done when doing a rolling stop. The dealer states that the driveline also needs replacing because another thing is that when I do come to a complete stop there is a bump or thrust/lunge that the truck also does ?