Hi,
I have a problem with my X5 4.4 2002 Auto Transmission too. Maybe any of you experts can help? Should I do a transmission reset?

After driving for a while, such as half hour, the transmission does not shift properly anymore. Usual operation at startup is quite good and not any sign or jerkyness or error message.
The first 10 to 15 minutes the transmission works fine, also it does not feel jerky in any way.

Shifting is also still carried out smooth, however the shifting point is much too high, I need to rev the engine to about 3 to 4K before shifing occurs. Usually it would shift much sooner, around 2K to 2.5K I believe? It definately feels wrong.
It means i drive on the highway only in 2nd or 3rd gear at very high revs. Need to push the pedal hard to force gear shift at v. high revs, up to 5K sometimes.

Shifting down would also occur too soon when comming from higher gears, leading to a jerky braking at traffic lights as the revs are too high on the downshift. but this issue is more irregular whereas shifting up becomes a constant problem after running the car for a while.

I also tried to change gears in manual mode.
When I want to shift into i.e. 3rd gear at revs below 4K it would not engage the gear and the display would show a drop back to 2nd after 3rd was shown on the panel for a brief moment. I felt that 2nd gear was still at work. Same applies to shift gear 1to 2, 3 to 4, etc. I can only do the manual mode shift at high revs (min 3.5 to 4K)

Have had the problem checked and the tranmission cleaned, oil cooler replaced, filter replaced etc. Cost a lot of money but problem re-occurerd immediately on my way home after I picked up the car and drove for over 30 mins.

what could be the problem here? Computer did not produce any error messages either. Could it be a rev sensor, or any other component not directly in the transmission? Do I need to get the transmission disassembled?

Please please help, had already too many problems with this car and spent a ton of money on repairs too