you could unplug the batteries for a night and that would reset the ecm and tcm but you shouldn't have to switch back and fourth between gears for a relearn that's totally incorrect.
if the hard shift doesn't go away after a day or two call the shop and request them to look at/fix. you should not have hard shifts with a brand new trans.
whats the year, model, any any mods? lift, tires etc?