It must be programming..it makes sense... why does it occur only in D moded and not in S mode.

I believe (and i am not an expert) the lurch is happening because it is shifting down very late, when the speed is very slow, so the downshift is causing the car to lurch....

In sports mode, it is downshifting at earlier and at higher speed so the transition is smoother and the downshift is actually causing the car to rev higher and slow the car down.

Is there anyway maybe if the downshift in D mode could be programmed to occur earlier or in the same manner as in S mode?

Maybe we are expected to drive in traffic and town in S mode ?

Is there anyone out there who has the lurch in S mode ?