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I'm starting to wonder if this is mainly a forced turbo lag. A turbo engine is pretty gutless and fuel efficient when the turbos are not used and fast and thirsty when they are. Can it be that the engine is mapped to wait for a deep pedal movement prior to engage the turbos while in D mode? It would explain the weak response and sudden burst of power. When in S mode the turbos are engaged from get go causing a quicker smoother response but also poor fuel economy. It's not really noticeable on the 550 since even a turbo tuned 4.4l V8 has enough grunt without the turbos to get going.
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