Ford F-150 (2009-2014) :: V8 Transmission Hard To Shift At Highway Speeds

I have a 2014 screw 4x4 v8 that has been in the shop 5 times now for something that the dealership can't duplicate, and that is intermittent enough for me that I can't determine what the conditions need to be in order to duplicate it myself.

My transmission will shift hard under two different situations:

1) when rolling through a stop, or a momentary stop at a stop sign, the transmission holds up between 3 and 1, and when I bring the rpms up, the transmission shifts down into 1, making a hard clunk;
2) at highway speeds, more so when using cruise, if I accelerate and the truck shifts down from 6 to 4, there will be a hard shift as well. In fact, when I'm on a long stretch of flat, open road using cruise at 70-75, I can feel a slight bump through the steering wheel and floorboard, as if the cruise is trying to engage the throttle a bit more, but only for a split second. But that will happen quite a few times within a couple miles until I come up on a grade and the throttle has to engage for a bit longer to keep speed. Sometimes, the hard shift will do occur going to 5 as well, but 90% of the time it will be a 6-4 shift. If the truck decides to shift from 6-3, there's no issue and it shifts and accelerates like it should.

Again, this is so intermittent, but when it happens, it happens several times. I've had the service tech ride in the truck with me, all the while not being able to duplicate the issue. I understand that these are learning transmissions, so the only thing I can think of is when I try to duplicate it by accelerating over and over, that the transmission adjusts the shift pattern or fluid pressure to compensate.