Panasonic 24-105 doesnt always "engage" properly on startup, should I return it?

As the title says, the 24-105 on my S5 doesn't always "engage" the internal optical unit or something when I power the camera on. The lens is very out of focus (far more out of focus than you can normally get with the lens, thoughts why later), and the lens makes noises as if its trying to "pull" the optical group into position.

To replicate, simply point the camera up, give it a very soft jiggle as it doesn't always "fall" out of place immediately, and turn the camera on. The optical group will be too far towards the sensor therefore focused way beyond infinity and the magnets(?) won't be able to pull it "up" into position so it just buzzes and clicks a little. It can be fixed by pointing the camera at the ground, letting gravity help it out. Once the camera is on there is no problem at all, and while the camera is off I can't feel more than a very slight movement from the lens when I move and turn the camera.

The camera and lens are both up to date (2.4/1.2).

How normal is this? Am I sending the lens back?