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My '14 Cadenza has shown no hints of this behavior unless I'm in manual mode, and then it's usually downshifts into first that can be a bit abrupt. Shifts are a bit harder in manual mode, but I don't think I've experienced anything like what you describe. My '14 has about 106K miles on it.

I second the recommendation to get a fluid & filter change and see if that helps.
 
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