My 2020 with 40k miles shifted really poorly, especially at slow speeds.  Apparently the car 'learns' your driving style.  I bought it with 5k miles, so perhaps that driver and I messed it up!  I had the PCM reflashed at my last service appointment (free) as per advice on this post.  It shifts way differently now.  Not to suggest you don't have a tune in there somewhere, just that eah truck could feel different depending on the driving style of the main owner.  post some pix/sounds if you get the chance.  I'm probably going to do an exhaust this year and always interested in the options!