It happened to me. This is my fourth tank fill-ups (the first one from the dealer at delivery). It was a hot day, over 103 degrees along I5, pulled into a Shell station (at the exit to Bakerfield) to fill up. When full, I removed the nozzle (definitely not an overfill since nothing ozzed out at all) and put it back into the stand. When I picked up the cap and sbout to start to screew in, the gas oozed out. Even when I closed the cap, it still ozzed out a little bit more. Overall, I think I lost about a pint of gas.
I think the theory of " 2)It was a very hot day and the gas was cool, causing it to expand rapidly once in the MDX " makes lot of sense. But this never occurs for all my car in the past, including those with pressurized gas tanks like the Toyota Avalom and Lexus RX/300.
This is a fire hazard and I will definitely talk to my dealer about this issue.