It sounds to me like your trans is slipping into OD Take a video of it and we could tell you for sure. Mine used to do that before i got a tune.
Do you let off the gas when you put it into drive or keep steady on the gas?
If you are only doing speeds of less than 50 mph, just keep it in 3, because then it wont try to shift in and out of 4th so often with city driving conditions. And shifting in and out of 4th is not really the best for it.
side note, which part of MN you from?