Jerky transmission shifts

Anyway, there's a noticable jerking movement and sometimes a chirp or small screech.
Doesn't happen in the "S" / sport mode.
It was suggested to start the car on an on ramp and floor it to a high speed to "clear" the tranny. Didn't work.
I'm planning on bringing it in for service, but has anyone else thad this with a 600?
From jprescott:
"So here's a weird one. Learned about this on my 03' E500 and tried it on the S with success.
The accelerator "learns" driving patterns and for us city drivers can get sluggish after a while. To reset:
turn key to A position battery on. Depress accelerator all the way down for 10 seconds. turn off key with pedal down. Keep car off a few minutes. Supposedly an ECU engine control unit reset. When you drive again you may notice the car is more touchy or faster out of gear."
There is minor "wobbling" at idle, when in gear, as well... It's sort of a "whirr-whirr-whirr" pause "whirr-whirr-whirr" type shudder. Goes away in N/P. Late shifts into R as well... I'm a little worried about damaging the transmission by revving too early as it catches harder then.
p.s. I will try the 're-learn' tonight and drive on the highway for a few miles.
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