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There is no benefit, and some detriment to lifting the gas in either manual or "D" mode. The ECU will operate the throttle during shifting as it matches RPMs to the next gear. Lifting your foot confuses the computer , at worst, and does no good at best.
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I beg to differ on lifting the gas. Mine shifts much smoother in manual as I take pressure (as opposed to fully lifting) off the pedal during shifting. Even the smart videos have you lifting while shifting. Have not really driven it in auto mode so I do not if this helps.