Try doing a reset for your transmission. It may or may not help. Put the key in the ignition, push the gas peddle all the way down, and turn on power but do not start it. Hold the peddle down for 30 seconds they release and restart the car. Then drive the car. This will reset the adaptive shifting program I think. I am not sure if it will help with what you are describing but it does not hurt to try.

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2010 X5M /// R63 AMG...Wifey's 540HP Family Hualer

2001 X5 3.0i Sport 335,448 miles & counting...
SMG M3 Steering wheel
E46 Stainless Racing Headers
4.6is Exhaust
Turner Pulleys
Afe Intake
Brembo drilled rotors
PowerFlex Bushings
Hualingan
30mm H&R Spacers rear
20mm H&R Spacers front
Bavarian Autosport High-Performance Coils
Active Autowerke's Performance Software