Everyone says its designed to do it. I personally say thats a crap excuse for a bad design job coverup. Even the worse of the engineering designers couldn't come up with such crappy auto box workings, how can the Germans do it? They are supposed to be the best of the lot. Ideally and technically the gears should be able to be designed to change smoothly and quietly whether cold or hot. And the cats have nothing to do with the auto gearbox. Well other car manufacturers have proven their theory of heating up the cat(thus making the car jerk like hell) is nonsensical. If they were right and it had to be like that why are other cars not doing this jerk-a-jerk and even the newer Mercedes models are no longer jerking? They still have cats in them. Maybe they don't need heating up now?