Palisade transmission dropping gears

I have a 2020 palisade that has been having issues with the gears getting stuck and or dropping while I am driving it. It has been happening off and on for over a year and a half. It didn’t happen very often at first and there was no pattern to when it would happen. Each time I would take it to the dealer and they would say they couldn’t replicate it and then would reset the computer and send me on my way. No warnings ever register. In the beginning it would be the car not wanting to get out of a low gear while crossing an intersection after a traffic light change. The car would be revving and not able to get out of it’s own way. Within moments, the car would pop back and everything would be normal. It might do this again within a day, or not do it for months. There was no pattern. Then last spring while driving on the highway, it dropped to 5th gear. This was the first time it did this at high speeds. The paddles would not get the gears to move, but switching it into sports mode fixed the situation. Later that day it did the same thing but this time I had to get off the highway and restart the car to get the gears to work properly. Again, the dealer could not replicate. They said they called hyundai national and there were no issues similar to this. Again, they updated the computer. The car started acting up again over the summer. It will suddenly downshift and jerk me. The RPM’s go sky night. I contacted the service dept, they said I would have to wait for a loaner to become available and they would have to keep it to try and replicate it. I have been so frustrated because they could put 2000 miles on it and it may not do it. OR, it could do it the day I pick it up from being looked at. I have asked for them to inspect the transmission. They say there is nothing they can do because it can’t be replicated. The last time I left a message at the dealership, no one got back to me. I spoke to Hyundai customer service and am waiting for a call back but they told me in the meantime to get an appointment at the dealership. I have an appointment for the car Friday. In the meantime, it has started getting significantly worse. I almost got rear ended and then t-boned just driving 3 miles home tonight because it got so bad and no matter how many times I tried restarting the car, it wouldn’t correct itself. It drops gears and people behind me ride up on me. I try to cross traffic and I can’t get out of my own way. It’s so incredibly scary. I love the car. I waited until this model came out to buy a new vehicle. I love the space and need it because I transport high school students to a training facility over an hour away for pole vaulting. I am beyond frustrated with being blown off and told that they can’t find anything wrong with the car. I have recorded the dash when it is acting up, but they still don’t seem to know what to do if they can’t replicate it. Customer service told me the same thing… they need to be able to replicate it. At what point do my videos and the fact that the car is dangerous come into play? Has anyone had this issue and how was it resolved?