Gear lurch is normal if trans failsafe. you need to clear the code from the transmission module.

You also have to confirm your alternator is on putting steady voltage. The symptoms are describing are bad alternator output.

FYI, that can happen easily if you did not tighten the nut
on the alternator. I did that once that’s how I know.

Also if the nut that secures the jumpstart post is loose you’ll get the same symptoms. Shows up about twice a year on xoutpost

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2011 E70 • N55 (me)
2012 E70 • N63 (wife)