C220D jerks on shifting into gear

[Jazzsk]

My car a 2017 C220D jerks hard on shifting into drive or reverse. Whole car jerks forward on shifting into drive and backwards on engaging reverse. Also at times there’s a lag in responding to acceleration pedal press. The car doesn’t respond with the pedal- then after a second or two car suddenly shoots forward. It’s been serviced regular at Mercedes or approved garages only. Milleage high nearly 100k. Please assist what can be the issue

 

[MeQ]

My car a 2017 C220D jerks hard on shifting into drive or reverse. Whole car jerks forward on shifting into drive and backwards on engaging reverse. Also at times there’s a lag in responding to acceleration pedal press. The car doesn’t respond with the pedal- then after a second or two car suddenly shoots forward. It’s been serviced regular at Mercedes or approved garages only. Milleage high nearly 100k. Please assist what can be the issue

Could be many things

Service required
Fluid low or requires changing
I think failed gearbox mounts can make it feel jerky too, as can faulty egr valve.

I believe there is some sort of transmission reset that can be done (a press this, do that sequence) hopefully somebody can clarify.

 

[Stratman]

Those symptoms smack of low transmission fluid.

 

[rayaans]

If it's the 7g tronic it's almost entirely normal behaviour and likely just needs a transmission reset. My 2015 c180 and my 2014 C200, both the same. Had it checked and they said everything is fine just did a software update which didn't really change anything.

Can be quite jerky/hesitant transmissions in general unless driven around in sport all the time.