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My 3.6 shifts smoothly. Something is wrong with yours.
 

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I've only had one scenario where it does anything out of the ordinary.

When approaching a red light, I'll be coasting toward the light and maybe on the brakes a bit. The light turns green before coming to a stop, and a few times the shift from my going back on the gas seems to cause the transmission some grief. It is almost like the computer is slow to react to the throttle input and then reacts by downshifting harshly.

That is the only scenario I've experienced something I'd point out to the dealer. 98% of the time it shifts smooth and downshifts appropriately when I am going to pass or merge into traffic. It doesn't even do that hard shift at low speed all the time, it is like you need to get it in the right spot.
This is called "shift shock". There is a TSB and a software update to correct this problem. I had it done on mine about 9 months ago and it completely fixed this exact problem. Take your car to your dealer and have them perform the update.
 
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