All of the problems experiences in this thread i have aswell, i had my dsg box mapped to attempt to circumvent this, box was much faster ecen around town and at slow speeds but the drive got more uncomfortable as time went by.
Ive had the dsg map taken off now, much smoother but as before thumps around sometimes, jumps into first, lots of drama then back into 2nd, 3rd etc.I had a dog bone mount insert fitted the other day, improvement of about 50% id say with the thuds and thumps, dont tend to notice it too much now.
i had a new gearbox from vw under warranty in 2013 along with clutch packs, mechatronics as the box was bangy in manual mode, but even afterbthe box was replaced it had different characteristscs even after it self learnt, so i gave up after that.