Transmission Not Engage problems of the 2016 Subaru Legacy

The transmission does not immediately engage, when shifting from reverse to drive or drive to reverse, with or without engaging the foot brake. The transmission goes into a significant neutral state before it engages, in either direction, allowing the vehicle to drift until the transmission engages with a lurch. The occurs whether or not the engine is hot or cold. This is particularly dangerous and noticeable when backing from my driveway, which is inclined, to proceed uphill, and the vehicle drifts several feet rearward before engaging. The delay is not as pronounced, when exiting to proceed down the street. Pages 7-24 and 7-27 of the Subaru owner's manual specifically state not to use inertia to move the vehicle. There is, also, a harsh, premature downshift that quickly takes the car from 25 mph to 15 mph and a rolling stop, when removing your foot from the accelerator, while approaching the crest of a hill or stop sign. The braking force will actually throw you body forward. This, also, occurs while travelling at low speeds on residential streets. These conditions have existed since March 8, 2016, and after 4 repair requests, at 3 different Subaru dealers, and an inspection by a factory engineer, their claim is nothing is wrong. Sorry, but I do not agree. Engineer, continue to exist. Their claim being this is normal.