Well, if it was the BX than it was more than a few years ago, more like over 10 years ago.
I drove two automatic diesels for quite a few thousands of kms and they were both excellent, maybe they changed the way they are actuating the gear changing.
The A4 it was a double clutch one so maybe that explains why it was doing exceptional, but the Espace is just a normal automatic gearbox and is really doing fine.