As others have pointed out, check the fluid level at temperature (precise temp reading via a scanner kit) and the transmission is level for correct fluid checking. If you did reset the adaptations, that would cause poor and harsh shifting (unless you do a relearn per ZF instructions) which would subside with time as the trans relearns as you drive. The mechatronic seal doesn't require force when installing and I doubt it would slide out. It tends to stay put unless accidentally dislodged and I think you'd definitely feel it if it were out of place during mechatronic install. Also, you can certainly reuse the oil if you drain it into a clean container!

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'05 E53 X5 4.4i, '97 E39 528, '07 E92 335i, '16 F86 X6M.