Well at this point you're outside of warranty, unless you have extended coverage.
When I experienced it, I was a relatively new owner. It happened once, then not again before I brought it in.
It's not a recall, but I'd take it in, explain what happened, that it felt dangerous or whatever, and (assuming this isn't a covered "repair"), tell them that you posted about it, you know now there was a software update in November 2019 that addressed the issue, that you don't know whether your car has been updated, and that you legitimately believe it's a safety issue. Perhaps if they charge you, you can split the cost, or perhaps they can check your software version as a courtesy.
No matter what though I'd make sure that update is installed, even if full price.
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