Abstract: A semi-automated vehicle transmission includes a method of returning torque control to the driver of the vehicle. The transition from an initial current torque value to a desired torque value is accomplished in two stages. A first rate of change is utilized during a preselected time period or until the current torque value corresponds to the desired torque value. In the event that the desired torque value is not achieved during the preselected period of time, then a second rate of change is implemented. The second rate of change preferably is very aggressive relative to the first rate of change. The rate of change of the current torque value is accomplished within a window of available torque limits that progressively change with time.