I get the best launch using "S" mode, left foot firmly on the brake and right foot keeping the revs at around 2500 rpm (just before launch only). This let's the computer know you want to go so eliminates any lag. To launch, foot off brake and pin the throttle. Needless to say, I don't do this very often as it is hard on the powertrain...but it works great when needed.
I'm curious as to other suggestions...