Was plagued by symptoms just like OP in Dec. 2017 S. Tampa service was great about spending 30+ minutes driving around with the mechanic trying to reproduce but, of course, was one of the few times it didn't do it. Anyway, they ended up checking logs and repair shown below seems to have done the trick:
Concern: Customer: A/C blow warm air after a few minutes of driving.
Corrections: Cabin HVAC General Diagnosis
Tested operation of vehicle A/C system and reviewed vehicle log data. Found faults present for thermal system discharge and pressure sensors. Inspected vehicle wiring from sensors to thermal controller. Found all wiring intact with proper connections. Tested for proper signal, voltage, and ground to sensors. Found all within specification. Performed thermal test. System failed for pressure sensors. Replaced pressure sensors. Recharged A/C system and performed thermal test. Verified system passed and A/C system now operating as expected with no faults.
Corrections: Pressure Transducer - High Pressure
Removed and replaced refrigerant pressure sensors. Verified correct operation.
Parts Replaced or Added
Part Quantity
AC LINE ASY,LWR LIQ & CHLR, MDL S2 1(1062583-00-C)
SNSR-REFRIGERANT PRESS AND TEMP- 1HI (1008516-00-B)
Corrections: A/C Refrigerant Recovery and Recharge
Performed A/C refrigerant recharge procedure. Corrections: Thermal System Test
Performed thermal system test following replacement of pressure sensors. Found results optimal.