Personally I haven't noticed any unusual or unpleasant shifting behavior in any mode or any speed or driving conditions. Mine is a S AWD that had 14 miles on it before I became its sole driver over the first 1900 miles that its got on it now.
I'd try that long battery disconnect if mine was shifting oddly, then if that didn't work I'd take it to the dealer and make them aware and get them to look into it under warranty.
I'd try that long battery disconnect if mine was shifting oddly, then if that didn't work I'd take it to the dealer and make them aware and get them to look into it under warranty.