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I have the same year but with xdrive and have gone through the trials and tribulations lol. Check your ignition coils and make sure they are operating correctly, if not replace all 6 with the Bosch ones. The coils or one of them sometimes go bad and it’s better to replace them all. Also make sure there’s no vacuum leaks. The easiest one to do is take it on the highway and punch it hard, if you do get a drive train malfunction while doing that, then one of the injectors May be clogged.
That’s the engine side, the transmission is a moody beast. A software update may fix it and mine behaves like yours (I never did the update). I changed my fluid at 70k so I know it’s not that. But I do see that if it’s 60f outside it’s silky smooth but any higher or lower it’s either hanging on cold drives till warm or hard shifting after long drives while hot.
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