Stop by the dealer's service department then next time it is doing it. Leave the car running and have a "service adviser" and a technician come out to see it doing what it's doing - that way they both can document it doing whatever.
I had to do that a couple of times when our 2004 TrailBlazer was under warranty. One time the Service 4 WD light came on. I called OnStar to see if they could read for any codes, and when they couldn't I drove right to the dealership I was using, left the engine running and had them come out to the TrailBlazer. The technician went back into the shop, came back with a Tech 2, hooked it up and determined it was a module not communicating with the rest of the other modules. I then made an appointment to come back to have the module replaced, and went back to work.