FYI, most guys are recommending the Penzoil Platinum Ultra Synthetic as the go-to lube. That's slightly different than what you listed, but I don't know what the difference is. Maybe not much. Just throwing that out there. Usually ya can find a great deal on Amazon for about $20/5qt jug, if ya keep checking. Reason is b/c of the lifter/cam issues, which it sounds like you are aware of..
I didn't see that you had changed your truck's tranny fluid. I used the dealer mopar product on mine. If you need to, I've recommended on here before calling a couple small town mopar dealers (parts dept), they may take it out of their barrel for you (bring some clean/dry milk containers). It's significantly cheaper that way and you know you're getting the 'right' product. That's if you haven't changed it already.
Hard to say on the tranny shifting. Most everything's electronically controlled. My jeep tranny was shifting awful. Turns out it needed a new solenoid. My scanner wasn't picking it up, but the dealer's did. I normally do all my own work (even tranny work), but that one I farmed out to the dealer bc I had a busy work schedule at the time. They nailed the problem the first time. $325 well spent in my case.
It could also be a little transmission 'shudder'. Caused by friction inconsistancy issues between the plates during shifting. A lot of people panic when they feel shudder and a tranny shop soaks them for a rebuild. But it can also be caused by broken down fluid, or the incorrect fluid (different additive pkg) and the friction coeficient is slightly different, or didn't mix well with what fluid they 'didn't get out'. The guy before you might have had some lube shop on the S side of town change the trans fluid with who knows what brand??. Then 200 miles later the tranny starts jerking. Owner thinks it's going to die (not linking the fluid change with the tranny behavior) and trades off the truck before it does. Soooo....If someone changed the fluid with a different brand, or didn't use the right Mopar stuff, that could cause shudder. You could take it back to the dealer and see if they'll exchange the fluid with the Mopar product.
If you do it yourself, First off ensure the level is correct when warm. If that's good, then, you might consider either changing the fluid (^all^ the fluid, not just what's in the pan), and drive it a bit to see if it works its way out (I've had shudder on a GM tk that appeared after a trans fluid change with Valvoline, and went away after changing again using Penzoil trans fluid that contained an anti-shudder agent). Drive it, say, 200 miles, to see if it works its way out. Or you could try adding anti-shudder now and if it goes away, problem solved. There's probably a Mopar anti-shudder additive I suspect.
Transmission shudder isn't uncommon. Google it. It can occur ...like after a fluid change (with fluid the trans didn't 'like' or didn't mix well with fluid that was left in it).