It sounds like it could be a TCC (torque converter clutch) issue. The dealership should be able to test drive with the diagnostic computer connected to identify slippage. Even without a load it might still have some imperceptible, excessive slippage that the test drive would identify. I wouldn't hurt to flush the ATF. FYI- I am not a transmission expert, but I have run this test on vehicles while working at a dealership, smaller vehicles. You might need a new TC (torque converter).