My Grand Cherokee Hemi has the ZF 8spd... it's a thing of beauty, so much so that it's the first automatic I've ever driven that made me say, I can see this being the doom of manual transmissions.
In regular mode you don't even know when it's shifting (unless you watch the tach or really concentrate on feeling it), in sport mode it is damn near perfect (only complaint is that once you back off the throttle, it'll hold a gear just a little long, guessing it thinks you are going to brake for a corner, or get back into... probably playing on a twisty road it is perfect, but, we don't have twisty roads around here) and when towing, just when I think, maybe I'll grab a gear here with the paddles, it goes ahead and does so... interestingly, there is no tow mode... it simply knows there is a load and makes the programming adjustments itself.
From everything I've read and heard from actual owners of the 10spd... it's on par.