VAG automatics insist you press the brake pedal before you can move the lever from N to D. They also have an arrangement that cuts power if the ECU thinks the brakes are on. The trouble is, whether you drive two footed or one footed, there can be a delay that lets the car out into a junction on the fuel already in the engine, then shuts it off mid-junction for a second or so until the system realises you are no longer braking. Very dangerous, because it's spasmodic and unpredictable, so takes a driver by surprise.