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there are several things that can cause this type of behvaior
the first would be a software or adaptations issue, so having the softweare updated and the adaptations cleared is a good idea.
the next would be a fluid issue, so the condition and level of fluid should be checked, and leaks checked for in the area of the transmission electrical connector
the next would be an issue with the mechatronics unit (the combined control computer and valve body inside the transmission)
finally it could also be an internal mechanical issue, this type of thing would typically necessitate a rebuild or replacement of the transmission.
Please let me know if you have further questions. Please do not forget to click a positive rating as this is the only way I receive credit for my answer, thank you. Best wishes with your vehicle.
I would say most likely it is an internal mechanical issue or mechatronics issue, but hands on checks of everything will need to be carried out to verify. Please do not forget to CLICK ON a positive rating