Well 6 to 2 is a pretty big jump. What speed are you at when you do that, and how wide is the RPM gap that it has to match? Maybe the ECU just can't get the revs up in time for the 7AT to complete the shift in that case. In any case you can probably predict the need for 6->2 well ahead of time, just pre-downshift to 4 before 2 becomes necc.
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