100% normal transmission operation. In 2010 they changed the tq converter mapping to make it upshift early in the effort to get better mpg. What you are feeling is the tq converter locking out in 4th, then unlocking and shifting to 5th, then locking out again in overdrive. This usually happens at about 40-45mph when the transmission is warm with a throttle input less than 50%. Its built upon the concept of a 1:1 ratio being more efficent than tq converter "slip"...not to mention it preserves the life of the transmission/tq converter by reducing heat caused by friction. A way to keep your rpms up a little to reduce the "bogging" is to lock the transmission in 4th gear (if you have a center shifter) untill 60mph, then slap the stick over to 5th(D) to lock it in OD. It does not hurt the transmission as the tq converter still locks out in 4th..just at a higher drive ratio. You may or may not see better mpg doing this, I personally see a very slight increase in mpg over leaving it in "D" the whole time. I went round with this as I didnt think it felt right but after driving numerous new dealer lot Titans and several visits to the dealer I finally agreed it was normal. There is also several threads on here about the same odd shifting your feeling. Hope this helps a bit. The design in genius on Nissans part but that doesnt mean we have to like it

. To be hnonest most people dont even notice things like this...we must be special lol.
EDIT: Also, as you on have 2800 miles on the truck, the transmission is still pretty new and rigid. As it ages a little and breaks in it will get smoother and more fluid. I bought mine with 8miles on it but after about 5-6k miles everything started to set and now she is as smooth as glass.