I don't know, maybe the throw out bearing assembly is worn prematurely or maybe the gear selector is out of sync. You seem to have a rather new car. I'd take it to the dealership and have them test drive it to reproduce the issue. They can help you decide where to go from there.
If it was older, I'd say drop the transmission and look around, but yours is very new and that's a lot of work and I suspect it could be warranty covered (even though clutch is a wear item, like brake pads). Ooh, maybe check the oil level before you go there (the transmission oil of course).
Welcome to NICO Club!
