Anyone notice a hard transmission shift, the first one only after starting off on a very cold day? Seems to need time to wake up in the morning and is fine once warmed up. I usually remote start it and it runs about 5 min before departure. Normal?

 

Could you accept the fact the transmission fluid viscosity is higher when cold?
Look at the trans temps on the dash to see this and track it's rise.
Good luck.

 

The hard shift is from first to third, it's way more pronounced if you don't just throttle through it. You will also notice cold it will hang in seventh gear. This is all to bring the catalyst up to temperature quickly. The 10R140 has a electric pan heater for the fluid and booster pump, the ULV pours below -20. This isn't for the transmission it is an attempt at getting the engine to temp as fast as possible. This programming is carried over into the 2018-2020 trucks with the 6R80 and SSV. It was not found on the 2018 3.3 trucks.

 

Yes, I have noticed quirky things as you suggest. I also have come to peace to give myself a chance to learn and accept my new truck, and it acts differently than my last truck, it has never failed me, or been back to the dealer for that matter. Enjoy your truck sir, turn off the gear indicator and drive it. If it breaks, it's under warranty.

 

The last vehicle that didn't shift wonky when cold was my '99 302V8 Explorer.
The current 2020 shifts OK cold in my opinion. The wife's '17 MDX slams gears/shifts until warm. It's unnerving but you get used to it.

In short...it's standard op! Drive it!

 

It gets better over time.....
I'm ~105k and the truck runs, drives and shifts better now than it did new.