I get the same exact thing, and I've taken it to the dealer multiple times for it within the last 2 years. It is most noticeably jerky when in tiptronic and I shift down to first from second WHILE ALSO braking to a stop. It is still very noticeable when I just downshift with my foot off the brakes. With a MB technician, I test drove multiple other C classes, from a brand new C250 to a same year C300 and all of them had a slight jerk, but not as much as mine. Each and every time I showed them on a test drive, they would send it to the shop to check on the transmission, and every time they would tell me that the transmission looks fine. My SA told me that its ok as long as the car drives normal, and runs well AND that there is always variation in transmissions. I never really trusted his answer but there was nothing I could do if they always brush it off as normal variation and tell me its fine. They won't fix the problem unless they say its a problem. I've had extreme jerkiness going from reverse to drive but that's usually only from a cold start so it was difficult to replicate. I don't have much faith in the quality this transmission and I hope it will last 50k more miles. I've been reading that it could be a the valve body or something, I also heard about the valve body when I asked my indy shop tech. My warranty expired a month ago and I regret not raising hell over these issues, and a few others. I would do as much as you can to make sure all these problems are completely taken care of before your warranty expires.
My dealer wouldn't even try to flash new transmission software....good luck.