Re: "Lurching" in first gear??
Well, if it helps, mine does the same thing you describe exactly. I've had it checked and the fluid is fine and there on no leaks of any kind. Mine has done this since I bought it a year ago. I've put 16,000+ miles on it and tracked the car often and had no issues. I was told it was just the more aggressive program of the SRT. It's obviously not all that "refined" like most Benz engines. It's a beast and I guess it's just a side effect of that. I do know that it is directly related to the "throttle by wire". I've been told a Sprint Bosster will solve this issue. I haven't bought one yet, so I can't verify it. I have had some varied success with the throttle reset procedure. I do the reset once a week and it does help, but not completely cure the issue.
Some cars do it, and some don't. That's about all I know. I haven't had any mechanical issues and the car runs as good as it always has... I wouldn't lose any sleep over it. It can be annoying, but I don't think it has any issues associated with this characteristic.