My ESV has been having trans problems for 10K miles. At times it slips going into second gear.
The dealer reprogramed the computer due to a code. Now it shifts way too early, mushy, and still slips the shifts at times. The dealer says normal, and no touble found. I have been driving this truck now 50K and this is not normal. Any ideas?

Well the pressures are not high enough if you say it is mushy. What does the fluid look like? What is the level of the fluid too?