Someone mentioned earlier to get a software update to fix the problem.

Ever since I got my 2006 HCH, I anticipate pulling out in traffic and allow a second or so - I take the brakes off, wait a second or 2, then press the throttle. Doing this avoids the problem you mention, and the habit of "off brakes for a moment before throttle" has long been learned.

Maybe my car needs the software update also? If I do not pause and press hard on the gas from autostop - the transmission engages harshly and the car lurches a bit.