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My X7 hasn't been built yet, but as far as the gear change, My wife's X3 is/was similar (X3/X7 both have similar ZF 8 speed auto) where in low speed and very light acceleration the shifts are rough.
Dealer could not find anything wrong after multiple visits.
Instead of the car adapting to us, we found we have adapted to it and have learned how to drive it to avoid (90% of the time) the rough shifts.
It's a little bit more effort and concentration on our part when driving low speed and light throttle, but makes the ride so much smoother. We do still occasionally get caught off guard and forget about it and will be awaken with the rough shift.
I'm hoping it won't happen in the X7. The one I test drove did not have this issue.
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