I know I start in first. The car is much happier in "4" rather than "D" and with ASR off. The car is also much happier after a sharp turn - I suppose that's b/c the slip diff has had to disengage. The real problem is the "smart" transmission that must learn that you are planning to drive more sporty. It takes a few brisk accel. for it to learn (kind of annoying, I wished there was a sport button).

Altogether, it seems that this could be one of the most cost-effective upgrade for this car.

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2008 S550
2010 GLK350
1997 E420 (retired)
2005 CLK500 (retired)