I have read that this was an issue with the 2.2 engine, but not with the 2.0 - does that gel with those who have concerns?
I am using the same ZF gearbox, or at least the 8-spd version of the basically same box, in a 5 series and I have not been aware that the DS box in the ones I have test driven is sluggish in comparison (as long as not in eco mode). And I am very fussy about such things and only a recent convert to auto at all, having preferred manual because of this very kind of issue with auto's of old.
My main perception of the auto box in the DS is no perception at all - it just does what it should do, which is the biggest compliment I can give to an auto box.
My wife (new to auto's - she rarely drives mine), did perceive the issue described, so perhaps I already just know how to drive this ZF box. In that case, the answer is tickle the throttle, or even jus let it creep and as soon as the car starts to move you can start feeding in the power - and this is over a very short period - 0.25 sec perhaps.
I assume that this is not being compounded by stop-start technology issues? - I always turn that off as I rarely come to a 100% standstill and when I do it's off for seconds only so in most cases it saves me nothing and is annoying.