I would try and set up an audio recorder and record the sound the next time it happens and take it to the dealer. It was rough trying to replicate the problem when I took it in. You should definitely take it in to get it serviced. It could be a simple problem like exhaust rattle or it could be a transmission problem. Better safe than sorry in my opinion.
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2010-PW-370z Fast Intentions CBE 18" res + HFC, K&N Typhoons Intakes(Gen 3 Stillen soon), 20mm H&R Front - 25mm H&R Back, Shine Auto(Sunline)
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