For those of us having transmission issues, it may be helpful to post build dates. The sticker on the side of the car has month and year only I think, but customer service can give the day, too.
Model: 2019 G70 3.3T AWD with Elite Package
Manufacture Date: 12/18/2018
Anyway, I have weird (read: jerky) shifting at slow speeds, mostly when slowing down, or in bumper to bumper traffic. I am always in Comfort Mode. Cold weather makes it worse. When the car is warmed up, MOST of the weird shifting goes away, but not all. The worst I experienced was when traffic was crawling at 10 to 15mph on the highway, and I thought I was hit by someone from behind. So, I put on my hazard lights, got out of the car, and there was no damage. The driver behind me was confused. I realized then it was a VERY VERY hard shift. Nothing like that has happened since. For what its worth, I think it shifted a noticeably worse when it was new. Now that it has a bit over 5k miles on it, it feels better. Maybe the ECU "learns" how you drive and tries to adapt? I know that happens on some cars, but not sure about this one.
Also, when the tech at my dealer that finally fixed my steering issue took the car on a ~120 test drive (he lives 50 miles from the dealer), he noticed the brakes would vibrate, and resurfaced rotors, but didn't say anything about the transmission.