So finally got an update for you guys. Last week the driver side exhaust actuator replacement came in to the dealership, so they drove to my place of work in a loaner xt5 and brought my car back to the dealership for repair.
They also managed to fix the buzzing in 4th gear, which was actually caused by the rear axle cooler line contacting the first exhaust to drive shaft heat shield due to a dent in the heat shield, which they repaired.
I got the car back in a day, and no longer getting a buzz or check engine light, and it feels even better than it did before (not sure if this has to do with the actuator being replaced or just a placebo). Overall the service experience was fantastic, and coming from a VW, having a loaner dropped off for me and having my car picked up was magical lol, not to mention taking warranty service seriously and not brushing off the stick shifter buzzing.