Transmission shifts hard

No, It's not normal to have to rev up to 4k to shift. Way too high. Unless you are stomping on it. There could be several problems, but if it has high mileage and/or has been abused the transmission could be low on fluid. Do not have it flushed unless the fluid is brown or has a burnt odor. Put the dipstick right under your nose, you will know what I mean. If it is a nice red/pink a flush will do more harm than benefit.

Okay, so what about the kick when it shifts out of first to second, is that Normal? I feel like it's a u joint but I'm not sure. It doesn't really kick when it goes into drive or reverse, only shifting out of first it kicks a little

The truck may have a shift kit in it making the shifts firmer.

Is there a programmer on the truck? If the previous owner had one on and never took it off it may have set the shift firmness to 50-100%.

Me myself I think we all have a recall ?!!! I have a 07 Chevy Colorado shifting hard out of first gear! It won't shift until reach 3 1/2 RPMs ? It's pretty rough a motor! Taking every stop and start like that all day!! That's my thought of it

My 2007 Avalanche did not do it until the STABILITRAC and TRACTION CONTROL lights came back on for the umpteenth time. This ole truck runs like a ‘tater. It definitely could trash that tranny if I abused it before I find a cure for the overly firm shift.

On my 2007 Avalanche STABILITRAC and Traction control issues coupled with a slightly hard shift, I took it back to the place that rebuilt the transfer case, and it turned out to be nothing more than a leaking vacuum line. It works great now. Even had a chance to try it out in the snow.