Hard Shifting

Hey all . Have a 2014 Rancher 4×4 es. It shifts really hard, harder when warm, in ESP or auto. Had back to dealer twice. First time a mechanic said the clutches were stuck. Again shifted smooth at dealer when cold but after it warmed at home it started shifting really hard . Second time dealer said all newer ranchers shifts hard. The 2016’s shifts harder than mine. Since it sat for about 2 years he said it needs more riding. Thanks for any advise ! jearlc