Yeah that's the same sentiment I get. Nothing is wrong with it but it's just mildly irritating. I had an old Ford Fusion that used a mazda transmission. It was like butter so I've been spoiled by that. Makes me sad that transmissions aren't all buttery smooth now.
I'll second what you wrote here, the 09G in my 2016 Passat shifts fine, especially at speed, but is a bit jerky at lower speeds in stop-and-go driving. I did a fluid spill n fill twice at around 40,000 miles using Aisin WS fluid.
And, yeah, I've had many automatic transmissions that have shifted a lot smoother than this one!