If you watch your revs as you accelerate you will notice the revs drop as the vehicle changes down gear (just as you'd expect) but continue watching it and it'll drop again just a little.
You can also notice it when you put your foot down a bit to get up a hill, the vehicle will appear to drop down a gear but wont be as big a drop as if you manually changed down.
Older vehicles will only lockup in 3rd or 4th gear but most newer gearboxes will lock up in all gears.
This is why newer autos have better fuel consumption as you aren't loosing power in the torque converter.
Anyway, as vietnamcam said just manually shift down before you really need too or before the vehicle does it itself, much the same as you would do in a manual.
You can basically avoid all the downsides of an auto by manually shifting and driving like you would in a manual, made much easier if you have a tiptronic auto.
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