Question: Is this a case of needing the latest trans software and Transmission adaptive memory refresh after a fluid change that created a new dynamics with the normal shift operations?
Legal disclaimer: My ZF trans knowledge base is VERY LIMITED.

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2005 X5 4.8IS
The Blue ones are always FASTER....

Current Garage:
2005 X5 4.8is
2002 M5 TiSilver
2003 525iT
1998 528i
Former Garage Stable Highlights
2004 325XiT Sport
1973 De Tomaso Pantera, L Model
1970 Dodge Challenger T/A 4 sp Alpine White
1970 Dodge Challenger T/A 4 sp GoManGo Green
1971 Dart Sport, “Dart Light” package
1969 Road Runner 383
1968 Ply Barracuda 340S FB Sea-foam Green