I have the same transmission in our 2020 Explorer. With a tiny 2.3L 4 cylinder engine, 10 speeds, and turbo's kicking in and out under certain driving conditions it can be a little jerky. Tons of power though, once in the right gear. Mine wants to get into higher gears fast and stay there in normal driving mode. And when it does downshift it will often go from 6th or 7th down to 3rd.
Have you tried driving in Sport or tow/haul mode. Under certain conditions on urban or mountain roads it stays in lower gears longer and power gets to the ground smoother. Much less shifting.
Without a side by side comparison I don't know if you have a problem or not. But to a certain extent it is the nature of the beast though.
