In E when stopped at lights when I lift off the brake to pull off it jerks however in S its perfectly fine

Gear 3 into 2 on downshift at low speed jolts (sometimes) notice this mainly when going around a roundabout and I’m doing around 20mph it then kicks down but it feels more like a pause rather than a jerk (not traction control) but a similar feeling to that.

Also from P going into either D or R you feel it jerk and if you go from R-D D-R

has had fluid change using mercedes genuine parts and no fault codes in the transmission

 

You could try the transmission reset procedure, I don't offhand remember it in exact sequence but it's here on the forum, so search under transmission reset. It's close to this; get in hold gas pedal down turn on key to first position wait a few minutes, then turn off key, release pedal and dont open door for three minutes, but I'm guessing

 

Do a search on Youtube for this procedure...numerous videos on that platform.

 

Ultimately none of the simple procedures may be successful at getting your tranny to shift well. I genuinely hope it does but don't hold your hopes up for that.
New ATF and Xentry adaptations will only "help" a bit.

There will be some improvements but "tranny only work as well as engine let's it"... concentrate your maintenance dollars on engine (besides ATF) as a way to help tranny perform.

Many external factors prevent tranny from learning predictable shift performance. The engine may experience difficulties with laggy VVT control and CAN-C modules.

Be ready not to spend any money fixing this large scale topic.... FORGET IT is my best advice unless it is extremely forced to poorly shifting. Don't even think about $8 rebuild tranny job....
Getting tranny to truely shift fast and seamlessly as it should requires many honest fixes.
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