Yeah, just drop the pan, replace it (filter is integral to the pan), replace the lost fluid with new fluid, reset transmission adaptations, and then drive it easy for 100 miles or so to let it relearn.

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8/2011 X5 xDrive35d Sport, Black Sapphire Metallic, Black Nevada Leather, Fine Burr Walnut Trim
2/2001 M5, Jet Black, Exclusive Complete Black Walk Nappa Point Heritage Leather, Black Cubic Trim