I concur. Bring it into the dealership and anticipate them performing 12-5-5. I don't believe this it's a 100% fix but I think you'll see an improvement.
I'm semi-concerned that you experience this even after the car is warmed up. I sort of doubt it's anything but it if this worsens you may have something else going on. Mine only does it with a cold drivetrain, and it's definitely worse in cold ambient temps.