Originally Posted by Boston X5 4.4

Try the reset procedure.

- turn key to position II
- press gas pedal all the way to the floor, past the 'click'
- hold like this for ~ 30 seconds
- lift foot off gas pedal
- turn key all the way to the right (i.e. start car)
- drive forward

Worked for me for 1-2 and 2-1 hard shift