That's rich.
I won't go into the details of my relationship with various manufacturers and cars, BUT, I can tell you with some confidence that the condition is a reaction to MANY inputs to the ECU and TCU and their ability to process these inputs in a certain amount of time. You only get so much in VS so much out in a given time period. It is not a unique feature of these cars or any manufacturer. You will find that if you can resist the urge to "mat" the pedal and roll into it, you will see the car respond much faster. Dropping the hammer and engaging the "kick down switch" you feel at the end of pedal travel is only going to confuse the issue.
Everything they program is a trade off in the war between performance, smooth shifting, gas mileage, and long life. It's a question of:
I see this "event", so I check A, B, C, D, and then I do E, F, G, etc.
If the issue is somewhat helped by turning ESC off, then there should be a partial fix possible with the replacement of an ABS or speed sensor, but there is likely no 100% solution.
I would be ecstatic if these guys could just produce a copy of the AVN users guide (navigation manual) that I've been trying to get for over 2 months.