I recently took my 2020 Lariat w/29k miles in for a random delay in shifting from R to D from a cold start. They did a software update on the TCM & a reflash. The R to D delay issue hasn’t reappeared yet & after a few days of driving the trans is smooth as silk.
Take a used 2019 or 2020 Lariat for a test drive. Pull over & pop the engine cover off and hand it to a waiting accomplice . Easy-peazy! ? (just kidding)