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You sure it's not the skip shift feature? That gets me occasionally, but it could be that you need to ad a little fluid to the trans. If it's a new vehicle though, you shouldn't have to do that. I do notice my M6 SS does the same thing when cold, I just go easy on her till she gets up to temp. But the issue is not exagerated much as you see to be saying yours does. I never really have to cram her into gear, just drive her easily till she's warmed up.
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