'Lurch' may be too strong a verb. Given that I have a tendancy to be a lazy braker, it really wasn't like a dangerous or obnoxious thing, just noticable. Also, given that the PSD is going from a non-moving state to a ICE/MG1 moving state, I would expect the MG2 to react at least a bit. Heck, I'm surprised the car doesn't leap into the intersection. Really, I should be more agressive in my braking to protect me in the event of being rear-ended: don't want to get shoved into oncoming traffic.