I have had this very same issue - hard shifting. Mine is between 2nd and 3rd, as well as 3rd and 4th. I've taken it to the dealership but they, of course, couldn't replicate the issue. They did a software update, but that did nothing to fix the issue. I know that until they can replicate it themselves, they won't be able to figure anything out, despite the fact I've seen these issues posted by many others in other places.
Mind you, this is one of many, many issues I've had with my Compass; they all seem to be electrical issues - they even replaced the computer in it at one point, but I continue to have issues with it.
It's been extremely frustrating experience, owning this Compass, and very disappointing.