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I changed the oil to the Valvoline long life XL oil suggested above and when I put it in right away its 20% better. 300 miles so far and its about 40-50% better.
It will never be 100% but I would never use the BMW ZF fluid. Here is a tip, fill the trans until it just starts to run out, start the engine in park at idle. The dripping stops and you can get in about another quart until it runs out again when the engine is running.
A couple post in this thread say to replace the shift O-Rings
? I'm not sure what that takes but it probably is the problems I'm having now. I wish someone would post how to replace them.
Bottom line: On a E53 DON'T CHANGE THE TRANS FLUID. The fluid was about as nasty as it gets coming out but it shifted fine.
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2002 X5 4.4i Sport Wheels
2014 X5 35i M Appearance & suspension package
1995 Porsche 993
1972 Porsche 914-6
2020 GLE 450 Twin Turbo
2019 Alfa Stelvio 500hp Quadrifogilo
Many motorcycles 
Last edited by Rockit; 02-27-2020 at 03:13 PM.
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