Just my thought …
The engine is in tune and properly maintained
The entire AC system ( including the fan(s)) is good operating order, has no debris blocking airflow to the coils and has the proper Freon charge.
1 – While operating your AC at maximum, or I assume near its highest setting, your putting a load on the engine.
2 – When your stopped it will be difficult for the AC system to keep up with the demand at idle.
3 – The compressor is doing what it can to fulfill the demand asked of it, IE. draw more power from the engine when accelerating to meet the required AC demand.
You might consider reducing the demands on the system IE. use the Econo feature and see if the hesitation improves or stops all together.
I’m left to assume that you own the vehicle from new?
That this issue is recent?
That ALL vehicle maintenance and up keep has been performed.