My M923A2 had the same issue, adjusted the TV cable for the tranny and properly lubricated it, big difference but still snappy. These trucks weren’t meant to be driven unloaded, and shift substantially different with an actual load on them. Just don’t be one of the guys to swap to ATF trying to coax a smoother shift out of the truck, it’s not the correct route.
With the truck off, The TV cable should be adjusted correctly and snap back immediately if you crack the throttle by hand and let off, if it doesn’t, spray it with Aerokroil, PB or something and work it, spray, repeat. It took me over 100x to get mine loose and when it did it made all the difference in the world
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