As mentioned in my original post, I have the six speed ZF in my 2006 model X5. Car has just turned over 130,000 kms or 80,000 miles. At no time has there ever been a malfunction message or has the trans gone into failsafe mode.
Reverse from drive takes about 2 seconds to engage, which is not normal in my experience. Also there's a slight 'bump' or what feels like the trans going from drive into neutral and back to drive, when cruising at 30 mph or 50 kph. It's hardly noticeable, but pisses me off somewhat, as I know this is not normal either....
Wondering if the mechatronics re-flash that I've read about might remedy some of these symptoms and if I need to take the vehicle into a dealer to have this done or can I do this via a scanning tool. Suggestions greatly appreciated.
At the end of the day, the car drives really well and I can live with these slight glitches, but being a bit anal, I would like to have the car as perfect as possible.

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08/06 build 4.4i Stirling Grey over black