I've not noticed this problem yet but I think the engine always starts and runs at 2000? rpm when doing a cold start at home as the last part of a journey home is slightly downhill and done in EV mode thus leaving the battery below 60%. The car's priority is to get the engine warmed up quickly by putting some charge into the battery as well as moving the vehicle (the engine may run for less than a minute to get the battery to 60%). When I set up an improvised tachometer using OBDII reader and phone I noticed that the preferred engine speed was 2000 rpm (or higher if more power needed) but went below 2000 prm when in direct drive (about 1600 rpm at 42mph and then increased in proportion to vehicle speed).
So far I have found the transition between different drive modes to be completely smooth. I wonder if the extra fuel used for the starting of a cold engine resulted in a brief power surge. Perhaps you should mention your observation to your dealer to pass on to Honda as you might have encountered a situation where the transition isn't so smooth.