I have the variant of lurch #1 seen here:

Jaguar S-Type ZF Gearbox Lurch fault

It is pretty mild, but clearly present when coming to a "slow" stop. If I stop "hard" the braking prevents the truck from lurching, but the downside to that is it is not a smooth, gradual, comfortable stop. My question comes here...

The tranny otherwise is butter smooth and seems to be in great working order. Do I take it in under CPO? Is there a true fix for this?

Worthy of note is that the truck does have Dinan tranny software and intake (done by authorized dealer). I still LOVE this truck even with this little hiccup..