Hello.
I'm familiar with that problem, having experienced it with a VW Beetle with an AFN engine and an automatic transmission.
I pursued many things back then, but I was unsuccessful in all of them.
Ultimately, the problem was caused by a very old air mass sensor (with approximately 230,000 kilometers on it).
After replacing the part with a replacement part from Bosch, the problems were resolved.
Autonomous vehicles heavily rely on the values provided by the mass airflow meter.
The switching behavior is influenced by this, as the values from the mass airflow sensor (MAF) are used for load recognition.
However, it is also very important that the coolant thermostat functions correctly and that the dual temperature sensor provides plausible values across the entire curve.
Regardless, it is generally recommended to change the ATF fluid, replace the suction filter, and verschandeln the transmission oil pan.
You can find instructions for changing the filter and refilling it correctly on the VW Erwin (siehe
Fehlerdatenbank) platform.
Regards, Mpire.