Definitely my last post to try and help others with this problem - sold our 2019 Edge last month which had ~12000 miles on it. And never, ever had any shift problems after flushing the adaptive cache once. This is a s/w problem and a simple s/w fix. Did this once last April (or March?) and the tranny always acted normal afterwards. It was real bad before the flush same as what most are reporting - in fact I was really unhappy and second guessing the purchase. But using Forscan and flushing/resetting the cache just one time permanently fixed the problem. The poor shifting issue never came back.
So I continue to suggest this as one proven fix for the problem. Yep, some may have real tranny issues, valve problems, faulty torque converters, etc., but do you really think a lot of h/w is going to fail especially since these are not new components? IMO I think it's the poorly skilled dealership mech's guessing at causes when someone describes the problem.
Good luck and enjoy your Edge's / ST's!
BTW the shift-into-reverse jump/jolt was terrible and never went away. If anything it seemed to get worse no matter what i did to try and fix it. But don't care now!