I had a similar issue with my '18 plat 2WD with the transmission hesitating and then slamming through 3rd/4th/5th and eventually got a powertrain malfunction alert. Vehicle has been at dealer over three months now, primarily because they couldn't get to it for the the first 2.5 months, but I've detailed all that in another thread about extreme service delays.
The tech finally got to it, replaced what they called the "transmission control assembly" along with a bracket, filter and some gaskets and they let me know today they are still getting the same error so the issue hasn't been fixed. Looking for ideas on what to tell them to look for now as it doesn't seem this dealership will figure it out on their own. I know I should just take it to another dealer, but I've at least got a loaner where I'm at and I called around and only one other in the area even has transmission techs and they are two weeks out from looking at anything with no loaners available.
To answer the previous question about switching driving mode, I did try that back when I had it and it didn't seem to help.