Ken...You are not alone..
My car is the same....with light throttle pressure, changing up the box is super smooth, actually I have notice with light throttle position it will get into 5th below 40 mph and 6th soon after, but start giving it a little more right foot, and 1st, 2nd, 3rd, 4th......................................... no 5th and 6th unless you trip it manually into the higher gears, not automatically unless you hang it out until close to the red line, which I really avoid doing, it's diesel after all!!
I have had the software updated but still the problem exists , the dealer explained it away saying the car needed to learn my style of driving as it is an 'adaptive automatic' I believed this as it was mentioned elsewhere on the web, I now think YES the box is adaptive but basically chooses between, a number of modes like gentle, aggressive and somewhere in between and possibly a towing mode somewhere.
I do not know for sure, but old auto boxes you could adjust the 'kick-down' positions, can you do the same with this box?
Sorry for the ramble and not giving you an answer, other than saying you problem is not just your car. Hopefully, someone who knows more will be able to help us both.
Engine - DW10CTED4 FAP TURBO DIESEL
Gearbox - BVA AM6C1