I have felt this in my 4.2 tdi ....like you say in your first post like transmission slack ....perhaps part of the feeling is just that , it has a long driveline ....
autobox , front diff, front shafts, rear transfer box , prop , rear diff ...its got a lot to turn , but i reckon some of it could be cured with software changes and how the valve block bleeds over .
The S type and xj jags with the zf boxes i work on can have that 'slop' feel with them, with Autologic a software flash reduces this feel greatly ....its like you have fitted a whole new box ....makes them have a sharper response but still with smooth change over and minimum flare up between gears
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