Yes, very slightly at around 2500rpm. I notice it most at about 50mph. It's very slight though. In fact it's so slight I forgot to mention it at the last service. Might mention it next time but I don't think it's causing any problems and it hasn't got worse over the last 9 months of ownership.
Mine did this for the first time on Sunday Morning.. It was quite violent though, at a T junction as well. It felt like I was a Learner driver all over again "Kangarooing". Went away after about a couple miles at a steady 40mph cruising speed.