If you use the left paddle while in D-mode you have not selected Manual shifting, rather you have engaged the “shift restrict” function. This means that (for example) if you select D4 then the box will automatically shift up and down through the first 4 gears but will not select 5th or above without driver intervention. It will not default back to normal D-mode unless you either pull and hold the right-hand (upshift) paddle, or change the gearbox mode using the controller on the centre console.
If you select true Manual mode using the mode selector then the box will stay in the selected gear regardless of road speed / throttle application and will not automatically shift up or down. The exception is if the road speed drops so low for the gear selected that the engine speed would be forced below normal idle in which case the box will automatically select the next lower gear.