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is it when you first fire up the car? or all the time when you are driving?
from what it sounds like, its a very common thing (my 300cd does it too)
from what ive been told, it's designed so that when the pedal is heavily pressed, it will shift as described. if you find the sweet spot on the pedal it should shift properly and smooth. also, when you are pressing heavily, slowly release when you get to a shift point and it should shift a little smoother.
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