I had the same problem on a Jaguar with the same box, got so bad I wrote a website about it.
What you are describing sounds similar variant 2 here :
http://www.thelurch.com/lurching_zf_transmission.htm
I have just recently commented on my box being a little snatchy after coming off a trailing throttle to my Dealer. Had the car from new (2006).
First move was to re-set any adaptations, but just had the entire system software updated to the latest version - now back to being silky smooth. Never been better. Really made a difference. Like a new car again
D.