What you are describing is generally a delay in reverse engaging, then a pretty good jerk. There is an adjustment on the side of the transmission - a screw with a large lock nut. CTH350 did a couple of posts on this a while ago. I think Catrinus asked the original question. You should be able to find it with a search.

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Chuck Taylor
Falls Church VA
'66 200, '66 230SL, '96 SL500. Sold: '81 380SL, '86 300E, '72 250C, '95 C220, 3 '84 280SL's '90 420SEL, '72 280SE, '73 280C, '78 280SE, '70 280SL, '77 450SL, '85 380SL, '87 560SL, '85 380SL, '72 350SL, '96 S500 Coupe