I just ordered the Roar pedal. Its $40 off. Hoping that gets rid if the lag and I can keep my current auto settings.That's what I have my "AUTO" set to as well. You can pretty much change everything BUT transmission settings in "AUTO" mode.
Something else you can do if you don't want to wait for the RHO modes screen to come up....set up a "widget" on your home screen for the mode you want. Then you can just shift to it on the fly without any hassle.