Lemon law requires that a problem has been brought in for repair 3 or more times (in most states) and the problem still hasn't been fixed. The key is that there is a diagnosed and confirmed problem such as not going into gear, slipping, torque converter shudder; it doesn't feel normal to me won't cut it for lemon law.
Since none of us have ridden in the OP's Camry we don't know exactly what he is talking about, so I acknowledge that there definitely maybe something wrong with your car. Even though there are lots of complaints about the shift quality of the 8-speed, actual transmission failures are rare. Bringing a brand new car in for service because it doesn't feel right but still operating normally is jumping the gun IMO. If was slipping, not going into gear or slamming into gear where the car shudders I would definitely agree that you should bring it in immediately. Keep in mind that techs drive brand new cars every day so if they go with you on a ride and say they don't feel anything wrong it's probably because his butt gauge has felt other brand new 8-speeds shifting similarly. A brand new car needs time to break in or as my cousin who is a mechanic says, wear in. Your car has a full warranty and you have 5 years/60,000 miles to take care of any problems there maybe with the transmission. My advice is that if it's shifting firmly but still going into drive and reverse and going through all 8 gears with no slipping just keep driving it.
Everything is very tight and miles and time are needed for all the powertrain components to wear in together. This is why there is a break in procedure you have to follow to ensure long term reliable operation. Your transmission pan has magnets in it because the gears will shave off metal from each other in normal operation as they work together and the magnets will catch the particles. Most of this will happen when it's brand new. You will see more buildup on a the first fluid change than you will on subsequent changes (back in the day when you dropped the pan 😒) . Same thing with the clutches. You're told not to drive at one steady speed for long periods of time and to avoid hard acceleration to allow your piston rings to set properly against the cylinder walls. This is one reason new cars can burn a little bit of oil. All perfectly normal. This wear in is why vehicles get better gas mileage as they get older. You will get better fuel efficiency when it has 10,000 miles on it than you do with 100 miles on it, less internal resistance in the powertrain.
When I bought my Camry it was 3 years old and had 38,000 miles on it. The transmission shifting was AWFUL. It would shift from 1st to 2nd as soon as you got going and fall on its face. This makes you give it more gas to accelerate then it would have to downshift then upshift again. Essentially, unless I really put the pedal down, it would shift 1, 2, 1, 2, 3, 4, 5, 6, every time you pulled off from a stop. Now at 105,000 miles it's better than it was because it's relearned my driving style and doesn't shift as quickly from 1st to 2nd but it still likes to go into the highest gear as soon as it can but it's noticeably better. Apparently the person who owned it before me drove it like a grandpa and I don't, not even close. This relearn didn't happen quick at all, it took a very long time. Your adaptive learn won't take long because it's in learn mode being brand new and there is no previous learned program to change. But it still needs time. Think of it like a shoe. When they're brand new they may hurt your feet but as you continue to wear them they conform to the shape of your foot and feel much better.
At the end of the day this is your car and you should do what gives you peace of mind.