Automatic Transmission problems of the 2005 Mercedes Benz SLK350

I bought a car in December of 2004 from Mercedes Benz and never had any problems until a year later. I started to get transmission problems, the car would start jerking when I come to a stop, and the rpm on the car would go higher than normal when I step on the gas petal after coming to a complete stop. I have brought the car into autobahn numerous of times to try and get this problem fixed, but the problem keeps occurring and never seems to be fixed completely. The first time around they had replaced my transmission, and fixed the tap threads on the new transmission housing, the second time around they updated our software and control unit, and the third time they checked our control unit, installed a electrohydraulic control unit, the forth time around they did a adaptation perform, and checked our oil level, software, battery charger, and then the fifth time they installed a new electrohydraulic control unit, and did another adaptation perform and that did not work so they replaced our transmission again, and now it's still not fixed.