Make sure you're checking the fluid level properly, car driven 15+ miles to get the trans hot, parked on level ground, engine running in park, level between marks on dipstick and preferably towards the high mark. Sounds dumb to suggest this, but it's an easy thing to do wrong and too much or too little fluid won't reward you with great shift quality.

Is this a recent development or has it always done it since you've had the car? If it's always done it, the modulator may be turned in too far, try backing it off a bit and see if it helps.

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Current stable:
1995 E320 157K (Nancy)
1983 500SL 125K (SLoL)

Gone but not forgotten:
1986 300SDL (RIP)
1991 350SD
1991 560SEL
1990 560SEL
1986 500SEL Euro (Rusted to nothing at 47K!)

Gone and wanting to forget:
1985 524TD 167K (TotalDumpster™) [Definitely NOT a Benz]