I bought brand new 2019 Atlas SEL 4Motion one month ago. Experienced the exact same issue. Barely have 600 miles on it. Took it to the dealership, did a ridealong around the block. After that they showed me a YouTube video to tell me it's normal. I have contacted VW Corporate to escalate issue. Don't waste your time. They told me it's a known issue and basically there's no fix to it. They did say VW is aware and that engineers are working on a plan to repair it. Not sure what to believe anymore.