i know now it not the control arm, when coming to a stop i put the truck in N will braking coming to a stop, there was no lurching,i did that a couple of time's no lurching...than i tried stop normal, the x5 lurch each time will braking it lurch but not when braking in N SO it most be a transmission problem... know how in hell do i reset the Tran.....is it key in position 2 for 30 to 45 sec will push down on gas pedal, than start up x5 and run the hell out of it for a few miles...is that it????