I've been noticing this more frequently when my 2010 Escape is cold. Seems to go away a few minutes down the road. I had the garage check it and they confirmed that it had been "flashed" for that issue. The mechanic was a bit surprised when he felt the shift since their computer detected that it had already been flashed. Is there a way to adjust the transmission again for this issue? Sometimes I don't really trust the mechanics here in our area. I'm driving out next summer and, with my extended service plan, may have a more reputable garage check into it. What I do now is, when I know it's going to shift, I let off the accelerator a bit to ease into the shift.