Great info Paul
I did a quick search using your info, and found that the problem we are describing is also often referred to as the “ZF lurch”, and there are entire websites dedicated to it http://www.thelurch.com/lurching_zf_transmission.htm (not a good sign, as there did not seem to be a clear resolution)
[b][i]Variant 1 : The Lurch we experience occurs when you bring the car to a halt in a smooth manner by braking very gently and letting the car come very smoothly to rest. Just before the car has come to a complete rest a little lurch like somebody has gently nudged the car occurs. It feels like a gear is being engaged or disengaged just before coming to rest. This can vary in intensity from a very slight nudge to a powerful jump that rocks the car.
Variant 2 : In addition, when you slow very gently to a creeping halt without actually stopping and then gently try to accelerate - there is a slight hesitation when the engine revs higher, then the gearbox engages the drive wheels with a jolt. This varies from a harsh jolt to snatchy.[/i][/b]
Looks like people are trying all kinds of things…TCU update, transmission oil flush using specific oils (e.g. ZF Lifeguard6 http://www.xoutpost.com/822704-post85.html), rebuilt valve body http://www.xoutpost.com/872353-post12.html, etc. Looks like we are going to have to start another thread for this problem. At least we arent alone on this one, as BMW and Jaguar seem to be effected too.