Hello!
I recently had a road trip to Colorado with my 73K mile 08 E350 4 Matic.

When I went down at the pikes peak, I tried to use the engine brake so I shifted down manually. I mistakenly shifted to the left twice. (-)
Suddenly I feel the shock severely that my friends sleeping in the car woke up.
It was not just shaking, it felt like something hit my car. After that impact, I saw the manual gear is on 1, not the 2, and my RPM went up to 5000~5500.
After that impact, I can feel the small shock when I downshift to 3rd gear when I'm using higher gears, and shock when I slowly stop. After several 'relearn' processes, ( by pressing the gas pedal) the car is okay and doesn't have any shocks during shifting.
I tried to manually downshift and upshift, slowly stop- and it doesn't make an impact. I already did the inspection process with local transmission mechanics. They test-drove my car and confirmed they cannot feel the problem that I mentioned. Codes are clean too. They asked me to do a pan inspection- which is the same amount of money changing transmission fluid changed at the dealership.
I changed my gear fluid 3K miles ago, so the oil level and the color are good as new.

But as a sensitive person, after all problems become normal- when I drive on the highway, I feel a slight shock when I take off the accelerator pedal and then step on it again after a while.
I can feel a slight vibration on my butt, not a thumping feeling. It is small that insensitive person drives my car they can't feel it.
Also, when I accelerate by stepping on the accelerator very slightly during the engine is cold, I feel some jerk at the bottom of the car. I usually use C mode so seems only shifting 2-3 gears with a lack of power. If I step on the accelerator more, it shifts smoothly.

Sorry for the long explanation, but has anyone experienced the same problem/feeling as mine?
Should I do a pan inspection? or just ride since no codes are present.
And, is it possible that the problem can disappear by several relearn processes?
Or any possible damages caused by that shifting?
I'm not sure this is a typical 722.6 problem.

Did the mechanic check the flex-disc on both sides of the driveshaft? And/or the U-joint about the middle of the driveshaft.

If it shifts properly, likely the problem is outside.

I hope they checked, they lifted up my car and checked the fluid level and color so I hope...
SO if it's an internal problem, it should not be gone by relearning process?

Sounds normal, both my 4matic ML350 and E350 do this. It's the freeplay in the 4matic system.

Oh dang, you have jerky transmission when it's cold?
or feel something during highway too?