My 01 did that also.
Turns out it was "carbon buildup". (02 sensor acting up) The dealer told me I drive to much like an old lady.
The fix was him flooring it in the parking lot to "release the carbon". I nearly tackled him.
He told me to either start running high test fuel, fuel additive, or start driving it like it's meant to be driven.
I started driving a little harder, and it never happened again.