My 2012 does the same thing but only after it sits for a couple days. it is probably the anit-drainback valve not keeping fluid in the tranny. It then takes the 5 or 10 seconds for the tranny pump to refill the tranny. the dealer says a lot of cars do this and there is no fix.
You should have your dealer look at it. Your service manager is in the best position to let you know if there is work needed, and about coverage you may have for it (warranty, recall, etc.). Let me know the outcome.