The saga continues ...
I took it up to some MB "specialists" who read off all the fault codes but couldn't find anything. They made one odd comment which was that the fault log may not pick up an intermittent issue. I would have thought that was exactly what a fault log was for ?!?!
But the guy was able to replicate the fault on a test drive, and they recommended getting the gearbox serviced, which i duly did.
I seemed to notice a real improvement as has been mentioned above in terms of smoothness of changing and everything seemed grand. This was Friday week ago.
However, yesterday it started happening again

and this morning too

(
So,
- first thing in the morning, start the car,
- move to R to get out of the driveway - clunk,
- move out and shift to D - big clunk/lurch.
- Move off - stuck in 2nd
- Stop, switch off, switch on again ... everything fine, back to smooth changing, no further problem.
So, my first suspicion (which is a bit sad) is that the "specialists" are not very special and did bugger all to the car, but it did definitely seem to be changing more smoothly last week.
My second suspicion is that they didn't do it right, because I notice on other posts that you have to start the car up and move it before you can properly refill the ATF in the gearbox.
They did mention they had seen ECU problems that can cause gearbox issues. Does that sound plausible?
The only other thing I can think of is that I have recently noticed a bit of a squeal from the drive belts when the car is idling that wasn't there before. It's not very loud and isn't a squeal that carries on as the engine revs up, but is it possible that this could be related?
Any ideas would be appreciated. I can see myself trying out another 'specialist', but I don't want to find out the first guys messed me about and all the hassle that entails