Until it's fully warmed up the tranny will be stiff and hold shifts, which can feel a little jerky. Every automatic car I've ever owned has something similar, including my current beater Camry (and my A8 SPS).
If you decide to visit your local dealership I would recommend offering to do a test drive with a technician. In my experience they can often lead to a diagnosis or answer quicker. I would be happy to follow up with them for you as well, just let me know!
I'm not concerned if other drivers say it's common. Either way, the technician wouldn't be able to diagnose it unless I left the car overnight and he started it early in the morning like I do.
Thank you anyway, Andrea.
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