I consider personally most automatic transmissions horrible. The gear is either to high to overtake or so low that the engine is running with too much RPM. The only exception is the gear-less Multitronic[1] by Audi. Sadly replaced by DSG. Nasty rumors say VW did that because the Multitronic had no more issues and worked well ;)
The DSG works somehow and the shifting is somehow acceptable. The automatic transmission Ford uses (e.g. C-Max) is horror for the driver, passengers and the engine. Adventurous people may proceed to double-clutching[2].