UPDATE: After a week of testing all this further, this is what I have found:
My car is hard shifting/lurching in both sport mode and manual mode. It does not make a difference between the two.
It does not matter what gear i'm in, it always lurches the same.
Turning the car off and on still instantly gets rid of the issue.
The car most consistently hard shifts when I have been driving at high speeds (60+mph), and then stop, put it into sport mode or manual mode, and continue driving. I still had one instance where it hard shifted upon startup though.
As a couple people have mentioned, and as you can kind of see in the video, the whole car definitely lurches when it is hard shifting. This is not a slight bump that can only be felt through the steering column, and was definitely not purposely programmed.
Going to be calling the dealer on Monday and seeing what their recommended next steps are.
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