The dealership will tell you that "that's just the way these things are" or that it's "normal operation".
I have that hesitation if I'm only stopped for a moment or if I'm just about to stop (my truck stays in 3rd until I'm just about stopped).
Somewhere else on this forum someone posted a way the "reset" your Throttle Position Sensor (TPS). I don't remember who posted it first but I can't take credit for this:
Get in your truck, shut the door, and don't touch anything else while you do this:
1. Push the start button twice to RUN (do NOT start the truck).
2. Slowly depress the gas pedal to the floor and slowly release (should take you about 10-15 seconds).
3. Push the start button once to OFF.
4. Open your door to turn off your accessories/circuits.
Doing this solved 80% of my issue. It's not a complete fix but at least it's free.
Unless a software update comes out this is about as good as it's going to get IMO.