Hesitation

It sounds like is it low on fluid. Have you checked it? Here is a guide and a diagram on how to do it:

https://www.2carpros.com/articles/how-to-service-an-automatic-transmission

FLUID LEVEL CHECK

Fluid level should be checked with the fluid warmed up to 50 to 80°C (122 to 176°F). The fluid level check procedure is as follows:

Check for fluid leakage.
With the engine warmed up, drive the vehicle in an urban area. When ambient temperature is 20°C (68°F), it takes about 10 minutes for the CVT fluid to warm up to 50 - 80°C (122 - 176°F).
Park the vehicle on a level surface.
Apply parking brake firmly.
With engine at idle, while depressing brake pedal, move shift selector throughout the entire shift range.

Pull out the CVT fluid level gauge from the CVT fluid charging pipe after pressing the tab on the CVT fluid level gauge to release the lock.

Check the diagrams (Below)

Please let us know what you find Will.

Cheers, Ken

This is the classic catalytic converter is worn out and needs to be replaced code, but I do not think it will cause a hesitation I am leaning toward the MAF sensor that needs to be replaced because it is reading less air entering the engine that actually is which will cause a lean stumble.

Here are two guides that will show you what you are in for when doing the jobs:

https://www.2carpros.com/articles/catalytic-converter-replacement

and

https://www.2carpros.com/articles/how-to-replace-a-mass-air-flow-sensor-maf

Please let us know what happens.

Cheers, Ken