My 4WD SE 2022 Taos (<500 miles) also does what you’re describing.
I live in steep hills in SF and when I stop at a stop sign going up hill, I’ll press the gas pedal but there is so much lag for the car to move forward. The car drifts backward downhill, so I have one foot on the break, one revving the gas and sometimes it’ll take 30s or more to finally lurch forward. When it takes that long, I pause, check everything, and usually restart the car and try again.
I’ll say, I found improvement with a) Sport mode and b) ALWAYS turning off the Auto-Start-Stop button. Especially in heat. It acts up terribly with the auto engine on-off button activated while at stop signs + heat, and I can almost never get enough oomph to get up a hill after a stop sign. This is dry weather conditions too.
But even with those two settings helping, it’s still either slow, in the 2-10 sec range to get going, or occasionally 30s-1m+ and quite scary when trying to parallel park on a giant hill facing uphill. Dozens of times I’ve been stuck trying to work the situation easing off the break while the gas pedal is pressed - and i’ve even pressed so hard as to have the pedal fully down for moments - yet the car will not go and instead slips backward inching closer and closer to a car parked right behind me.
I’ve tried snow, off-road, on-road modes. But so far those all perform the same as Sport on-road. (Definitely poorer in eco and normal). I’ll try the Manual 1st gear idea.
I’m taking mine to the dealer this week. But from what I’ve researched, I’m getting the sense this is a quirk of the dual clutch 4WD models and not happening on the FWDs. Something about the transmission design + engine efficiency designs that result in actually just a bad driving experience in the real world particularly for the hills scenario.