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You can use the paddle shifters either D or S-mode. The only difference being while in D mode, after shifting manually, the transmission will slip back into auto mode after a few seconds, while in S-mode, you maintain control until you nudge the shifter back into D. So, in other words, if you just need to accelerate a little bit to get pass a car or merge, you can quickly downshift with the paddles while in D mode, and the transmission will revert back to D mode after a few seconds.
To get back into S-mode from M-mode, you have to go to D first, then nudge the shifter into S. No other way around it.
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