Sounds a classic transmission problem... I haven't tried it with my X5 (thank heavens) but on my ex-Pathfinder, when this happened (not shifting gears when it should) it was an early warning that the trany is going down... I remember changing the oil and adding some additive for protection, which improved the situation a little, but after few months i lost the reverse gear and bye-bye gear box...

how many miles do u have on the clock?

__________________
BMW X5 3.0si 2008
Premium Package
Light Package
Navigation
Reverse Camera
Rear Sensor (retro-fit)
Comfort Access
Spare Wheel
Power folding mirrors
Voice Control w Bluetooth
Power trunklid

BMW X3 3.0i 2006
M Aerokit
M Sport Package
Navigation System
BT Handsfree
Xenon HID

BMW X5 3.0i 2001 --- SOLD