With x6 (e71), w/ D engaged paddle shift will put trans in Manual, then automatically shift back to D after/if the car comes to a stop.
If u move the gear shift to the left/sport mode, stays in Steptronic/SMG mode, shifting automatically
if u move shifter to the left, & paddleshift will put trans into manual fulltime.
(I seldom use full manual, as the SMG mode works so well, & fantastic, i can concentrate on finissing my steering & throttle.)