Good Afternoon,
I've done a lot of research on this issue, it was happening with my 2018 jeep compass latitude. Hard shifting between gears. I was ultimately able to fix the issue by replacing the spark plugs. Faulty spark plugs can cause the hesitation in shifting and the harsh sounding gear changeovers. I watched a youtube video on how to replace the spark plugs and this has solved my issue!! Cost me around $11 per spark plug, and a few tools. Around $70 fix total. Absolutely 100% worth it!
Ask a shop to change your spark plugs if you're not comfortable doing it yourself, then see if the issue remains. I can almost guarantee it will go away. Hope this helps!! Thanks and cheers.