Are you mechanically knowledgeable? How many miles on the machine?
There are so many potential causes. Bad sensor data, valves out of adjustment, low fuel pressure, bad fuel, low voltage, bad/high resistance connections/grounds, etc. Where you start can depend on your mechanical abilities.
I usually start with a PDA to read what the ECU is seeing, but most folks don't have one of these but there are posts in this forum that give instructions for making one. This is one of the first things I thinks owners should do as they are invaluable for chasing difficult issues.
Then I check the mechanicals (compression test, fuel pressure test, voltage draw tests).
At this point, either something has jumped out as a problem, or a bunch of stuff has been eliminated as a cause, and you move on from there.
An alternative is to take video of the problem when it happens and bring it back to the dealer to show them, but labors rates are expensive if they have to walk the diagnostic tree.
Good luck.