Mac scott is sitting at a red light- for 45 sec. and then feels what he describes as feeling bumped from the rear.... so not related to the self test when hitting 20 MPH.
Mac, in my 2010, I began to feel delayed shifts into D from park, it would take up to 3 seconds for me to feel the engagement. that was the major symptom. Another symptom that I got a few times was I would slow down at a red light and stop. Some seconds later- I felt like I was bumped from the rear. I would even look up and look in rearview mirror only to see that there was no car present.
I never received a check engine light. But I knew what the delayed shifting was related to. I replaced the Laminate discs in the TECHM. They were indeed torn. This corrected the delayed shifts.
I have also not experienced anymore of those feelings of being bumped in the rear.
The way I see it in my head- was that I can to a stop fast enough that the transmissions laminate discs/solenoids- were a little delayed and when they finally did- the trans did something that allowed pressure within its passages to do whatever they do- that translated to the feeling of being bumped.
in the 2016s, the laminate disks are no longer used.. but im wondering if this is a sign of your techm having issues and or a solenoid getting sticky/lazy.