Seems to be a common issue then, and I use my paddle shifters far more often than I feel I should need to for the same reason, the blasted DSG is constantly in the wrong gear unless in Sport! The ZF box on the X6 is a dream in comparison

[/quote]
The RRS that was replaced by the x6 was a ZF and prior to the Alltrack, I had a Jaguar S Type which also has a ZF gearbox (V6 twin turbo diesel)
The Dsg is butter smooth changing, don't get me wrong, but any ZF I've had is not only butter smooth, but also has that cany knack of being in the right gear. I think the way they are programmed and the way the torque convertor works means that you're driving style is 'learned' and the gearbox is in the right gear more often than not and quicker on throttle response.
Twin turbos always help with the diesel engines as the turbo lag doesn't come into play very much and it was my experience with my previous cars with single and twin turbos that made me think the 40d was a good choice for me and how I like to drive. It certainly feels very responsive.
The Dsg is also very good in its own right but maybe just tuned for economy rather than performance? Once it's in sport mode it's really nice but I think the ZF just shades it overall - just seems to have an edge. Both are great gearboxes to be fair though
