What's included in this service? Sorry don't have a manual handy. Cars still under factory warranty, so I assume I have to go to a dealer for it? How much are we talking?

I've noticed a bit of hesitation when punching the gas at speed, almost like the tranny's thinking of whether to downshift or not. Kind of a triple delay. like a quick "whaa" hesitate "wha" hesitate "whaaaa". this all happens rapidly , about 1-second. This is a 2003 2.4T