Well, we bought two Rubicons in 2020 - DCT-IRS-EPS - and at the beginning, they shifted like crap, only to find out that their was a PCM recall / update for the 2020 and 2021 models. After we had this done, these things literally shift like butter, zero issues with downshifting or upshifting, and we didn't do anything out of the norm from the beginning. When I'm hunting, I mainly use the ESP - but when we are trail riding, it seems to pick up your riding style just fine. The more aggressive we seem to ride, does defiantly change the shifting patterns, maybe you should to see if your model needs the update, other than that, 800 or so miles latter, we love the.
Good luck
Good luck