Try keeping it in sport mode. I found this to be universally better than ordinary drive mode in the D4 and now in the sport. The slowness off the mark seems to be programmed and is extremely annoying when trying to keep an even pace with slow traffic especially when you want just a bit more and instead of that you "wake the beast". Sport mode seems to give a more natural response to the throttle. I only ever leave it in "Drive" when cruising. When I first started doing this I thought I was going to have a big hit on economy, I've found it to be negligible and if anything, better.
Anyway give it a go and see if it works for you.

