When you first get in your car, before you do anything else, tap your brake peddle (just tap and release - no need to hold it). This wakes up the car and let's it go through it's startup process which takes a few seconds. Then, when you hold the brake peddle and attempt to put into gear, it will happen on the first try.
Have you tried Chill mode? Makes a big difference on this. It doesn't completely eliminate it, just significantly reduces the herky-jerky.
Whenever I am in stop-and-go traffic, I switch to Chill and then take it back out once traffic opens up.