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Look into XHP FlashTool. They have a trans tune for about 500 USD. I went with Stage 2, shifts are much smoother in Comfort and quicker in Sport modes. Definitely worth the price if you are okay with tuning.
You can also disable transmission decoupling when stopped which allows smoother, more predictable stops since it keeps the trans engaged. Less wear and tear over time. Many other options are available as well
If you don’t want to tune, look up how to reset transmission learning. The trans automatically adapts to your driving style (not related to the adaptive drive mode btw) and sometimes can learn bad behavior which causes jerky shifts. Drive like normal for about 50 miles after relearning to smoothen it out
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