Is your gear dash display flickering when it happens? If so, it could be an xyz switch fault - mine did this in 2nd and 3rd. A clean up of the switch contacts sorted it.
Otherwise it could just be the gearbox acting in a different way due to temperature/MAF or any number of things. When you read about the inputs that the ECU has it can make gear changing decisions based on a number of combinations - road speed, load, temperature....
If it's shifting smoothly then I'd suggest it's okay and just feels as though it wants to hang onto that gear in high load situations to protect itself.



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