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I was having that same issue (and others, intermittently) until I did two things simultaneously;
- let the workshop do a proper refurb and replace the necessary seals (as Crystalworks said) - this was pretty expensive but I was getting all kinds of grief, like stuck in 3rd with Trans Failsafe warning... I knew it was time!!
- also as it settled down, keep resetting the transmission adaptation with INPA every couple of days. When I got it back from the shop it still made the occasional hard shift, so the combination of the two seemed to get it back as good as new
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2006 X5 4.8iS (facelift) in Imolarot + Ivory leather & alcantara headliner
1999 E46 323i in Imolarot II + Grey nappa
1990 E30 320iSE Sterlingsilber
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