Shifts 3rd gear roughly on first drive. Should I take it to the dealership?
 

I have a 2015 Mazda 3 S trim sedan with 55k miles on it and I live in Oregon. I let it warm up for a good 5 minutes before I drive it everytime it has the blue symbol for the car being cold. But for the first few shifts into 3rd (around 20 or 25mph I believe ) it shift roughly. It jerks a little bit as it goes into gear and is not comfortable to feel that in the morning. I notice it even more when I'm turning out of my neighborhood because when you turn you don't want your car jerking.

I was wondering...would warranty cover it? Should I drop it off at Mazda and tell them to call back when fixed?? Or would they be be hesitent to look into it and fix it? What would be the best way to go about this? Am I out of luck or should I test my luck with the warrenty/service department?

thanks for taking the time to read! Hope to hear from some people their thoughts about this!