My Hyundai Santa Fe lurches in Drive

I noticed my 2016 Hyundai Santa Fe was lurching when in Drive when stopped at traffic lights, and also my screen would turn off or go between screens for no reason.

I took it to the local Hyundai dealer and they said there was nothing they could find, and to bring it in when it happens again. I never travel down that way and it didn't happen all the time, and when it did and I was down that way it was out of hours.

When I put the vehicle in for its 15,000 km service at the same place I asked about both items again, especially the lurching, and they again said they couldn't find anything wrong? I then went to another Hyundai and asked them about the lurching.

They said the brake clutch solenoid was faulty in the valve body and needs replacing under warranty. They also recommended the auto trans fluid be replaced along with the auto pan gasket. The solenoid is being replaced under warranty, but I have to pay for auto trans fluid and the pan gasket, a total of $560.

The car isn't quite two-years old and we purchased it a year ago. This would not have to be done yet as the vehicle is still quite new, but because the solenoid is faulty and they have to access the solenoid, this has to be done. This should then be covered under warranty, or not?

If I don't get the fluid and gasket replaced, they can't fix the solenoid? Do I have reason asking for this to be covered under warranty? I know fluids and oils aren't covered under warranty, but if the solenoid weren’t faulty would I really need to be doing this? Can you help?