What revs are you at when you try to shift up? as far as I can tell from 1 to 5 it has to be at or above 2k before it will shift up which is fine. If you try to drive it like a normal gearbox in manual it wont be happy, use each gear as you shift up or down and it behaves much more reasonably. I only use manual when I want to put on a bit of pace and it reacts perfectly.
Driver error, not gearbox error
I have only had the beep when driving like a nun and trying to change into 4th at less than 30mph.
But usually in slow traffic situations, or town driving, i am in full 'wafting' auto anyway.
the full auto is nice for just pootling around although I found it doesnt enjoy trying to match other drives speeds.