The S mode on the 2nd gen DCT just works, it is great and feels natural in most situations. From time to time I will override (mostly downshift for more engine breaking) using the paddles, but most of the time the S mode gets it right. And in the 2nd gen, manual shifting keeps you in automatic mode.
I can't bear the D mode (sluggish, no engine break). If you prefer this mode you are riding this bike wrong IMHO. But that's just me, different bikers have different uses.