mine did exactly this, usually only once in traffic and warm
they did the clutch packs first, which made it a bit better but didn't fix it and then later replaced the whole box because it also had a bit of bearing wine in second gear (which the new box has as well - must be how they sound!) touch wood its been perfect since.
But I did 2 adaptions which didn't do anything and they did a good check into the parameters at VW and they said it was all well within limits, but couldn't deny that on the test drive it was very jerky and replaced the box.
there must be people about repairing these mechatronics units, VW wanted something like 2k for it!