I have a 2000 CLK 320 with a 722.618 which experiences a harsh hot P -> D engagement. It has fresh correct fluid, new connector, dry TCU, all the usual stuff...

When cold, engagement of Drive is buttery smooth! It builds up the pressure very gradyally, I barely feel the engagement.

At operating temperature it sort of slams it in, I'd best describe it as if I raised the engine RPM a bit then put it in Drive. The car feels like it's beeing bumped from behind, very uncomfortable.

I found the LI27.50-P-049281 adaptation procedure for the 7G-tronic which calls for shifting P -> D a bunch of times, doing some waiting and warming up. Doesn't work on the 722.6 unfortunately.

Is there a specific 722.6 procedure for adapting P -> D engagement?