With all the recent posts about shifting mid turn with DCT, I decided to update my old thread.
So I tried it this year and I can confirm that there is no issue shifting mid turn using S6. The DCT ECU has been very smartly programmed and when it senses a shift while the car is laterally loaded, it will execute a very smooth shift (no surge). The power delivery remains constant and the chassis doesn't budge. Very convenient
I have attached vids to show me shifting mid turn in S6 (twice in each vid) and as you can attest, the car remains absolutely stable.