Took it back to the dealership for some work. Last week did all the fluids hoping it would fix my transmission issue.
Still grinding going from any lower gear (2/3) to a higher gear (5/6). Going up the tree has no issues, just skipping 2 gears rapidly causes a harsh grind on the transmission (guessing syncros, but I'm not a professional). Grrrr... at 30300 miles now, expected to be over 36K in ~3 months. Didn't get a Juke, got a rental Sentra as the courtesy cars were all out.