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TCU tune resolved this for me. But given we don't have the same car, how are all of your mounts looking?
the problem is when you driver in Comfort, Sport, Sport+ mode - gear changes are very hush between 2-3 gears. car basically jerks during the these gear changes. When i switch gear to manual - there is no issue. When i drive the car in sport+ mode, car changes the 1st to 2nd gears around 3000 rpm