I suspect you guys are feeling engine torsional vibrations. The torque from the engine is not constant, but comes in pulses as the cylinders fire. Torsional vibrations are measured in terms of crankshaft angular displacement, that is, how many degrees the crank position varies from its "ideal" position. Torsional vibrations increase as engine speed drops, and also increase as power increases. For example, the crank angular displacement at 1200 RPM and full load is about 10 times higher than it is at 1800 RPM and 30% load.
So the worst case is low speed, heavy throttle operation (aka lugging). You feel the engine torsional vibrations because they get a lot worse under those conditions. Backing off the throttle, or downshifting to a lower gear (raising the engine RPM) reduces the vibration level. You also feel the vibrations a lot more when the torque converter clutch (TCC) is engaged (in higher gears) because the vibrations are then transmitted directly to the trans and driveline. In lower gears (TCC unlocked) the fluid coupling action of the converter dampens out the torsional vibrations.
If you're concerned that you really have a slipping TCC, your dealer can make a high-speed recording of engine speed and turbine (trans input) speed, using a scan tool. You can then compare the readings to see if you're actually getting TCC slip or not. Some fluctuation (5-10 RPM) in the readings is normal due to speed sensor error (you might see 1450 engine RPM and 1444 turbine RPM). If the "slip" you read is bouncing around between +10 and -10 RPM, you're OK. If you see periods of continuous positive slip (like 15-25 RPM) when the TCC status is Locked, then I'd say you have some TCC slip going on.
But I think in most of your cases, you're likely feeling engine torsionals, so you just need to shift to a lower gear under those conditions.