Thanks everyone for your input. Miraculously, I was able to find a dealership 30 minutes away that can work me in at 3pm today to hook my truck up to a "pod" he calls it which will outline any potential issues like a software update, low tranny fluid, etc. His initial guess is that it is low on tranny fluid which is causing a slight delay in the clutch packs engaging. When I slightly rev the truck up to around 2k RPM's, its building the pressure and circulating the fluid enough to engage. Of course, they will know more when they hook it up to the pod, but I hope that the simple fix is low tranny fluid. It makes sense in theory since it's not throwing a code for anything electrical. He said that if the tranny fluid was too low, it would def throw a code so he doesn't see any harm being done in the interim and hopes that the pod shows nothing more than minimal low tranny fluid that is a quick fix. In saying that, those of you that have a new '19 might want to have your dealership check your tranny fluid level next time just in case. It's a closed unit, so the only way you can check is have the dealer hook it up. More to follow, but fingers crossed this is a simple fix.
Edit: Another dealer says it could be a bad throttle body inside the tranny, which the simple fix is to drop the tranny pan, replace part, and refill. I hope it's either that or simply low on tranny fluid. Fingers crossed either way.