My jeep has a ZF 9 speed automatic. It’s certainly not as smooth or nice changing as the BMW auto I had previously.
It's interesting in how it actually works, it has a 'dog clutch' on it. 5th is 1:1 ratio. When driving it the shifts up 4-5 feel different and also on the power off rolling the downshift is interesting, almost like it disengages the gears for a while.
Detailed description here...
On the DSG systems I believe they are either wet clutch or dry clutch. Probably worth clarifying what system your experience is on, when describing it as they are different.
The views I express here are entirely my own and are not intended to represent my employer.