Wrong autogear selection

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Hi any ideas why my V8 auto 2003 auto Disco does not always select the correct gears when moving off from cold. I notice that it pulls away quite slowly and revs higher than it should be when travelling at 50mph. After I stop and restart, say for petrol, it is ok and continues to select the the correct gears. The car has only done 17k miles so is not old, is this common?
 
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