I am a veteran of many turbo cars - starting from the early '80s. Those vehicles, right up to my wife's 2007 Volvo s60, had REAL turbo lag-each gear could feel as if there were two speeds to it. The low rpm lugging, then almost a slam when the boost came on.
While I don't have the 2.3 (2.0 has more tow rating), I can say this EcoBoost does not have any turbo lag in the classic sense. If it is there, I can't feel it- the powerband is wonderfully broad.
What the thread starter seems to describing is lazy gear changes. Try putting it in "S" and see if the shifts firm up.
Modern transmissions are all software controlled, so there may be a way for the dealer to 'flash' in a firmer shift profile for "D". This was done for my '06 Mountaineer early on, and I rode around happily for 8 years and 160k miles before flipping into the MKC.