I have a W6 Diesel, automatic version.
The pickup and gear shift has a serious issue. The car stalls between A1 TO A2 or A2 to A1 shift. The system does not recognise speed reduction, when you try to pick it up, the engine just stalls.
Also, shifting the gearbox to different modes gets stuck occasionally.
I have driven automatics for 15 years, this does not feel like one