I have also had this in my 40 tdi - I have worked around it, not ideal, but if I blip the throttle before I want to 'Go go' then it kind of moves into gear - when that small gap shows, nail it and it moves fast.
I wanted an auto all of the time I had my C7, but I miss it a bit - This seems to be all over the gears and change up way to early for my liking