A "5th to 4th" uncommanded shifting experience? Damn. That will get your attention.
And only because some of the guys reported their "size 12" was doing things uncommanded, I reckon you'll state that your toes were nowhere near the shift lever at the time of the downshift?
If it were me? There's no place in my garage for a transmission from "iRobot."
I'd be back at my dealer spouting superfluous safety speak and publicly pontificating warranty work.
Best of luck.
Steve