not being a technical guru i've learnded with my selespeed that the "kangorooing" is due to (at least) two problems
- bad clutch ajustment/no calibration and/or
- problems with the EV0
(for more technical information you may want to look here Alfa Romeo Selespeed - solenoid valves and actuators
As for the first, you have to check clutch adjustment and do the necessary adjustments with AlfaDiag/FES. That is, the clutch itsself should be fine, oil is new and enough, accumulator is fine and the pump does her job on a regulary basis.
For the second, over time, old oil flows down to the EV0 (which is (afaik) the lowest point in the actuator) and stays there. It tends to get sticky. So one solution ist to get that EV out, clean it, change the selespeed oil, get the EV in, calibrate and be happy (it worked for me). Or, you get a new EV0, thats also a good (but maybe more expensive) solution). 9th post in this Alfa-GT.de - das Alfa Romeo GT Forum - Gummiberzug Kupplung Selespeed
thread (has pictures in it
But, a little hopping when cold seems normal to me. So i do the same way as you do, when starting cold, let it run for a minute or so, select first and the R (i allways have to leave the parking lot in reverse), that helps a bit. And a sensitive right foot helps.
Only my 2 cents