[Hog1]

"Lurching", or Lurking for that matter are bad things in a transmission, even if it is "normal". If the dealership tells me this is normal, find another one. If you have no success on that route, the best case senario is find a transmission guy you can trust and is knowledgable. That is an oxymoron in itself.................but compare what the dealer is saying and what he thinks.
I had some success going to the factory on a dodge pu I owned. I blew the motor out of warranty. On engine rebuild, I came to find out the cam shaft was never properly seated from the factory. The mechanic wrote a letter for me, and the factory paid for half the rebuild. Long shot, but what the hell. Find a reliable tranny ( not that kind of tranny) guy and go from there