Mt S320 petrol is experiencing gearbox problems. When driving normally the gear box works as it should. However, when I kick down, the gearbox goes to a lower gear but will not change back up unless I take my foot off the throttle, and if I boot it hard, the gearchange is very bad, like a gap between selecting gears which results in the higher gear being snatched and the car lurching forward. I have tried the gearbox reprogram with the key on/off etc. but no change. It is a 5 speed auto. Any suggestions before I book the car in.