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My guess is that this is not a transmission issue. This is your engine coming out of the 4 cylinder deactivation mode (what GM calls AFM, or "Active Fuel Management".
Here's how to find out....
On your driver information center, set your display to show Instant MPG. It should also say "V8" right next to it. Drive around with it set that way for a while, and watch what happens. You will see that at low speed and low torque situations, the truck will go into 4 cylinder mode which shows as "V4" on the display. The vibration you feel is a slight lugging of the engine, before all 8 cylinders come back on. It does not do it under harder acceleration, because the AFM won't come on when there is a need for more power. You should be able to feel the lugging, and as soon as it stops, your display will show "V8" again.
The way to avoid this around town is to dhift into Manual (like the old "low" gear on most automatic transmissions). In manual, you can shift gears manually, or set it at a predetermined gear. If you use any gear M1 through M5, the AFM will not activate, and you will not feel that lugging.
Hope this helps! It's annoying, but your dealer is right...there is nothing wrong with the truck. It takes a while for the truck to learn your driving habits. Once you get 5,000 miles or so on the truck, you won't even notice it anymore.