Just to provide an update on this - it turned out the trans was just low on fluid. The dealership insists they fully filled it. I'm guessing they forgot that I have the factory trans cooler. Or maybe the trans needed to burp somehow. It was 2 whole qts low on fluid. Once filled back up it...
Seems to be the way these days - the ZF 8-speed that goes in so many other vehicles is the same way. Really unfortunate - doesn't seem like a big deal to have a dipstick on modern transmissions.
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