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My car has had this issue since the day I bought it. Recently it became worse to a point of it being intolerable. I just happened to flash to the newest version of MHD and reset adaptations (load control, vanos, and throttle) and the car has gotten quite a bit better. It's not perfect, but at least I'm not using the issue as an excuse to trade the car like I was last month.
If you have MHD, I suggest updating the app, flashing the newest maps, then before starting the car reset the above mentioned adaptations. I also let my car sit for 30 minutes after adaptation reset before starting it for good measure. Hope this helps someone.
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