Yea, I've noticed the 'lurch forward while stopping' effect a few times in my 3 week old Niro.
For now, it's my only true complaint with the vehicle. It isn't major, but do fear that one day it will catch me off guard and might lead to a fender bender with the stopped car in front.
I'm hoping it's more me learning the car than a true glitch and my actions are confusing the computer.
As I know I have a stop well ahead, I do the "hybrid thing" and let off the gas to coast in EV/light charge mode. As I get closer, I'll apply partial brakes, hoping I'm doing "regenerative" braking and not using the brake pads. At some point I'll decide I need to get more serious about the stop and apply more brake pressure. If this seems to be too much, then as I get a bit too slow, I'll back off again into regen brakes. I may go back-n-forth on the brake pressure a couple of times like this, maybe even letting off completely. This is where I hope my learning the vehicle better will help ... reduce the back-n-forth and have a more linear stop.
I think my lurches have been as I'm almost completely stopped, but about 6 feet behind the stopped car ahead. Not wanting that much gap, I let off the brakes. I think the gas engine cuts in for a brief second at this point, and wants to power the car forward. My reflex kicks in hitting the brakes, thus making the "roll forward" more like a "lurch". At a high level, I think I'm confusing the computer ... it doesn't know if I want to stop or go.
It's curious seeing many complaints here. My 1st thought was this lurch perception of mine was because I'm transitioning to a hybrid after 20+ years of driving a manual transmission.
To me, no foot on the gas OR brake means "maintain" ... slowly coast to a stop or stay stopped if already so (plus factoring any incline on the street). To an automatic driver, "no foot" means "roll forward at idle power". So I thought this difference was my issue, but not sure why the "automatic style roll forward" would result in the gas engine kicking in when I have EV battery power available. On the other hand, it's hard to really tell when the gas engine is running or not ... it could be that a stutter along with the lurch is making me think it's gas cutting in/out.
Seeing other complaints makes me think this is less about a "stick shift" guy learning an automatic which also happens to be a hybrid.
These are just observations and not complaints. So far, I'm loving my Niro.