Ive had my transmission replaced under warranty because of the ZF lurch… so if you have warranty complain enough and they’ll replace it. I had both engine and tranmission replaced under aftermarket Fidelity warranty… after that they dropped me though because of the cost of the entire replacement…35k :o OUCH
I had done research and at first i assumed it was the TCU and bad solder in the TCU accompanied with heat from the engine causing the TCU to fail. i had horrible issues with my tranny some call it the lurch some call it the clunk… 1-2 downshift and stopping and 4-5 downshift … hesitation and clunking. Literally would feel as though i almost got rear ended.