My suggestion is that if it's not broken, don't try to fix it. Why take the chance for them to screw things up? If you're happy with the way your transmission works...then just leave it alone.

My '04 3.0i had the same hesitation problem as everyone had described it on every single board. Basically, when you step on the throttle for the first 1/2 inch or so of the throttle position, the car does nothing for about a second...then bang...it jerks into gear just as if someone had hit you from behind. Another somewhat related problem is the transmission is undecisive when coasting to a stop...that is, it is slow in reacting to down shifting. For example, you're coasting to a stop, but without actually coming to a complete stop...so naturally, your foot is off the throttle. The problem is that when you try to reapply throttle, nothing happens for about a second before the transmission decides to get into gear and jerks forward.

According to my dealer, BMW knows about the problem...but they haven't released any official fix. But a few months ago, I'd mentioned it to my dealer again, but they gave me the same story...but somehow the problem "magically" went away after that visit