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I'm joining in this pretty late. I think someone already mentioned that the fill level and using the MB fluid is critical, and I wouldn't assume a transmission shop would be all that familiar with it, so you better have a pretty hefty bill for that fluid, it runs over $10 per liter (sold by the liter even here in the US), and requires a computer to monitor trans oil temp.
But in looking at your first post, you have to remember this is an adaptive transmission, but it is "instantaneously" adaptive. What you might want to experiment with is in a test-drive, try putting you foot down a little slower when you floor it and see if the shift quality is better. If you put your foot down very fast, the transmission will respond with a later, harder shift.
Gilly
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