My TIP is smooth most of the time, but does occasionally slip or shift hard (or not at all) between 4th and 5th. In manual mode it's fine.
The shop suspects it's a sticky valve in the trans. When they changed the fluid awhile back, they noted that it was very dirty (but not burnt) and had likely never been changed. Lots of driving and a couple of more fluid flushes/changes will hopefully free it up eventually.
Durametric scan showed the issue was not electronic.
This might be your problem as well.
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