I wonder how much of this is due to the dog clutch design. Traditional automatics shifted soft at low speeds by delaying the clutch engagements (as well as the cushioning effects of the torque converter). Dog clutches are far more efficient and probably more durable, but it's not easy to make them shift softly. Additionally the MPG requirements are forcing them to keep the TC locked until just the moment of shift, then lock again right away.
I suppose that a lot of this could be changed through timing tweaks and hopefully the adaptive system will help. But it still beats CVTs. And it will never be a Dynaflow.
'89 Wrangler YJ
97 Grand Cherokee (ZJ)
87 MB 560SL roadster