When I did my 535d E61 5 series (6hp28/32) the procedure from BMW/ZF was to do the oil change as per instruction and then perform the Oil Change Adaptation reset NOT the clutch wear adaptations.

So the oil wear is as the trans oil breaks down the clutch friction material will cause the oil viscosity to increase and the trans will adapt to this slowly over time. So the trans pressures required to clamp the clutches is differnt.

Once you change that fluid to nice clean new stuff the computer still thinks that it’s the old thick stuff, and the clutch application pressure it apples will be the same. So you get hard changes. Resetting the oil adaptations values means the trans is set to a datum as “just off the line” aka new oil. I’d start with the oil adaptation reset and see how it goes.

But equally ZF 1/2 soleinoids are notorious for going and are really easy to change. I’m sure when you do you can but I’m the new “E” style soleinoids...... but you would have to research that!

Only problem with that is the sump need to come back off to get to the back of the mechatronics unit. Plus if your there you might as well get someone to open the mecatronics and give it a good clean out. Only takes a bit of grit in a fluid way to change the pressure flow and therefore effect gear change characteristics.

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E53 3.0d Sport 119,000 Miles
E61 535d Estate - Hybrid turbos and Dark-side intercooler...389hp,792nm