Hey guys tried to search but couldn't find this exact problem. I have a 2001 x5 4.4 with 87,000 miles on it.
Last week a weird problem started happening, when I put the car in reverse and press on the gas the car starts shaking and jerking for a couple seconds then it goes away.
If I am up on a hill and just put the car in neutral and roll in revesre it does not jerk. Also if I press the gas very gently in reverse it seems to be ok.

Any ideas on what this could be?.