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I suggest taking your X5s to a well recommended transmission shop that is familiar with BMW transmissions for a diagnosis. You could need an overhaul but it could be something much less costly to fix. The key is not to wait until it gets worse. Find out what is going on now. If you let it go it is likely you will damage more parts and perhaps assure you will need a rebuild.
FYI-the dealer does not fix transmissions.
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 X5 4.6 2002 Black Sap, Black interior. 2013 X5M Melbourne Red, Bamboo interior
Dallas
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