My Jag has a similar gearbox, I think. I have it set so that if I use the paddles it goes into tempry manual mode. If the paddles are not used for a period it returns to auto. I find it very useful at times, particularly in situations where I want to control the gear myself.

If I set it in S it is full manual. I have to say it takes a little getting used to and one could easily overrev the engine by downshifting to a gear too low.

After a couple of years of owning the Jag I find a modern auto quite acceptable. When used in manual mode it does require a little practice to get the best out of it.

Peter

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