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My observations are as a new owner. First, I find the zf8AT much smoother than our Golf 7sp DSG
I think I have a sense of what you're describing as "jerkiness". If what I think it is is correct, it is the g/b shuffling gears (usually downshifting) while you are traveling slowly. It's doing this to prepare for anticipated acceleration, rather than staying in a higher gear, and then putting a fairly uncomfortable kick-down jerk through the transmission when you accelerate. This sensation is even more evident to me when in Sport, or Sport+ mode, but I don't find it unpleasant.
To test this, you can simply push the lever over to manual, and see if the jerkiness is eliminated while you hold the car in, say, 3rd gear, and speed up or slow down
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