My gearbox also jerks into 1st from second if its hot and ive a slighly more spirited drive should we say, and occasionally between 5th and 6th depending on throttle position, mine doesnt do it in reverse though.I had a new gearbox, clutch pack, mechatronics at a cost of 4k in 2013 from vw under my used car warranty (and i paid nothing) and that time round it would bang in manual mode all the time.
I give up now, i put it down to 1st gen dsg rubbish...ive driven a few other dsg second gens with the standard map and it was loverly.
Had my dsg mapped to try and overcome this, box was really quick, even around town but wasnt smooth at all anymore so i had it taken off again.
As long as the box gets a serv every couple of years, youve done your best with it :)