Check fluid level with engine running and fluid between 30 and 50c. Send codes to ZF for their opinion.
https://www.zf.com/corporate/en_de/m...-inquiries.jsp
Most likely it is pressure regulators (solenoids). I just did my daughters for $300 in parts. The good news is her 325i now drives like new. I am so pleased that I plan to replace the pressure regulators in the 2 other 6HP BMWs we own. Many people report that low speed jerks that have been there since new go away.