Assalamualaikum. I also have Alto 660cc turbo 2016 model renamed as WORKS in 2016 by Suzuki.
It has AGS (Automatic Gear Shift) transmission same as the new cultus. Which is near to manual with actuator motor ( that is what i have learnt over the time).
If u drive it in D (automatic) with floored throttle u will feel a very small pause between the shifts or what u are calling lag or jerk. I feel the same in my car and i call it harsh shifting.
But if u drive in mannual mode u will not feel it. If you still feel in the mannual please get your car checked.