Went to the dealer, reset TCM adaptations & TCM fluid change counter.
Resetting the adaptation and trans fluid change counter are a button push (or mouse click) in VIDA. That erases what the TCM thought was the best way for your transmission to shift smoothly. (and the fluid counter) There is also "Control Module Adaptation" - Was that done?
That would have involved you picking up the car still running after the transmission had been set into adaptation mode. (if you turn the car off it goes back to normal mode) Then you drive the car following this schedule - I've done it and it does produce smoother shifts. Your car does not have "neutral check" so ignore that part of the instructions. I do think the TCM will figure out smoother shifts with time anyway - so - if you continue having problems with a specific delayed shift - you may be having valve body problems.
Courtesy of VIDA -
Control module adaptation
Activating adaptation mode
Hint: The following method is for a basic adaptation of the transmission. For more sporty driving styles, the basic adaptation may not give an improved shifting quality. The method can be adapted to cover the engine speeds at which the shift quality problems occur. However you must ensure that the orange/yellow warning lamp lights exactly as with the basic adaptation.
Note! Always begin with a basic adaptation.
Connect the VIDA station
Start the engine
Gear selector in position P
Activate "Adaptation Mode".
Note! Do not switch off the engine. The function is only active during this driving cycle.
Disconnect the VIDA station. Test drive the car as described below.
Start the test drive after the text message is displayed in the combined instrument panel.
The general orange/yellow warning lamp is used during the adaptation as an indicator to show that a target value has been reached. The warning lamp goes out after 2-4 seconds, depending on the type of adaptation that has been carried out.
Note! The Transmission Control Module (TCM) adapts continuously, even when this function is not activated.
Test drive description for up-shift adaptation
Accelerate the vehicle carefully at a speed of 1000 rpm. Hold the accelerator pedal (AP) in a fixed position throughout the acceleration. Accelerate to the highest possible gear. Stop the vehicle and repeat the procedure until the general orange/yellow warning light illuminates or until the shift quality is approved. A number of accelerations may be required to obtain the correct result.
Accelerate the vehicle carefully at a speed of 1200 rpm. Hold the accelerator pedal (AP) in a fixed position throughout the acceleration. Accelerate to the highest possible gear. Stop the vehicle and repeat the procedure until the general orange/yellow warning light illuminates or until the shift quality is approved. A number of accelerations may be required to obtain the correct result.
Accelerate the vehicle carefully at a speed of 1400 rpm. Hold the accelerator pedal (AP) in a fixed position throughout the acceleration. Accelerate to the highest possible gear. Stop the vehicle and repeat the procedure until the general orange/yellow warning light illuminates or until the shift quality is approved. A number of accelerations may be required to obtain the correct result.
Accelerate the vehicle carefully at a speed of 1800 rpm. Hold the accelerator pedal (AP) in a fixed position throughout the acceleration. Accelerate to the highest possible gear. Stop the vehicle and repeat the procedure until the general orange/yellow warning light illuminates or until the shift quality is approved. A number of accelerations may be required to obtain the correct result.
Accelerate the vehicle carefully at a speed of 2200 rpm. Hold the accelerator pedal (AP) in a fixed position throughout the acceleration. Accelerate to the highest possible gear. Stop the vehicle and repeat the procedure until the general orange/yellow warning light illuminates or until the shift quality is approved. A number of accelerations may be required to obtain the correct result.
Note! The symbol only needs to appear once for each shift during each speed to inform that adaption has reached its target value.
Test drive description for down-shift adaptation
Drive the vehicle at approx. 70 km/h (45 mph) in the highest possible gear. Let up the throttle pedal and brake softly to a standstill.
Hint: The brake pressure must be 8 - 12 bar.
Repeat the procedure until the general orange/yellow warning lamp illuminates after each downshift or until the shift quality is approved. Note that a number of retardations may be required to obtain the correct result. If it is difficult to obtain results, increase or reduce the pressure on the brake pedal.
Note! The symbol only needs to appear once for each shift during each speed to inform that adaption has reached its target value.
Description of adaptation of "garage shifting"
Allow the engine to run at idle speed and hold the brake pedal depressed. Then move the gear selector to position N. Wait 5 seconds. Move the gear selector to position R. Wait a further 5 seconds and then move the gear selector back to N. The adaptation is complete when the general orange/yellow warning lamp lights when the gear selector is in the R position.
Allow the engine to run at idle speed and hold the brake pedal depressed. Then move the gear selector to position N. Wait 5 seconds. Move the gear selector to position D. Wait a further 5 seconds and then move the gear selector back to N. The adaption is complete when general orange/yellow warning light is activated when the gear selector is in position D.
Note! The symbol only needs to appear once for each shift during each speed to inform that adaption has reached its target value.
Description of adaptation of "Neutral check"
If the customer complains of jerking during braking to a standstill, in gear position D, or when the brake pedal is released when stationary (disengaging and engaging clutch C1), the following must be performed:
Allow the engine to run at idle speed and hold the brake pedal depressed.
Shift the gear selector to position D. Wait about 30 seconds or until the general orange/yellow warning lamp illuminates in the combination instrument panel.
Release the brake pedal and allow the vehicle to roll at idle.
Brake until the vehicle is stationary.
Repeat points 1 - 4 until the procedure can be performed without jerking.
Note! Adaption of the neutral checks does not need to be performed if the customer does not complain about it.