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I've had the exact same thing happen several times, only on long hwy trips as well. Tried the gear selector to eliminate the mds and it still happened. Haven't taken it in to see what they say yet as they will not be able to duplicate it and will not do anything without confirming the issue.

Mine would do the hard downshift coming to a stop going into third it appeared on the display. One time I thought I was rear ended it was so hard. Took it to the dealer thousands of miles ago and it has mostly disappeared. Feel it a tiny bit still but nothing out of the ordinary I think