The lag is only noticeable because you're not managing the clutch with a pedal, so therefore you're more aware of the time... if you had a clutch, it would still take you longer to get it from 100% in 1st gear to 100% in 2nd gear, because you have to:
1) Disengage clutch
2) RPM Match
3) Shift
4) Engage clutch
In manual mode, I can get this down to about half a second if I use 1/3-1/2 throttle just prior to the shift, and start with RPMs around 3,000. In auto mode, the ECU aims for 2500 RPMs in step 2 above, so it will throttle back until that's reached before re-engaging.