Anyone else with a Genesis G80 having weird transmission hesitation?

I've got a 2021 Genesis G80 that I absolutely love, but over the last month I've noticed this strange hesitation when I pull away from a stop, especially when the car is still warming up. It's not a violent jerk or anything, more like a slight delay before the power kicks in, and then it surges forward a bit which can be pretty unnerving in traffic. I took it to the dealer and they said they couldn't replicate the issue and that it's probably just the transmission learning my driving style, but I've been driving it the same way for two years and it never used to do this. I'm a bit worried it could be something with the mechatronic unit or maybe the transmission fluid needs to be changed, because I've read that Genesis transmissions can be sensitive to fluid condition . A colleague mentioned that I should try a mobile service that offers Efficient Genesis Repair By 800Sayara Abu Dhabi, because they come to you with proper diagnostic tools and can actually do a real test drive while monitoring the shift parameters in real-time, rather than just reading fault codes and guessing. I'm hesitant because I don't want to void my warranty, but at the same time, the dealer hasn't been helpful and the hesitation is really bothering me. Has anyone else experienced this on their G80 or GV80 and managed to get it sorted without a major transmission rebuild? I just want to make sure I'm not driving around with a ticking time bomb.