After putting the vehicle in park and letting off the brake, it will roll forward and sometimes feel like lurching depending on the elevation of the terrain. If this is happening aggressively on flat terrain however, I'd suggest taking it in for a "clutch re-lean." You can specifically request this and cite harsh gear shifts, as well as a harshness when shifting between park, drive, and reverse. This is a service they should perform for free under your powertrain/transmission warranty. Just had this done and it helped alleviate some harshness when shifting into reverse (similar to what you described, the vehicle wanted to take off).
Not sure if that's your exact issue, but it sounds like your shift solenoid may be having problems. I'd also request that they check transmission fluid levels in the meantime.