If you have an independant BMW mechanic with trans experience, definitely take it to them.

My local BMW dealer is good, but the independant shop has the same laptop w/ software, is very reputable and is less expensive. I do like getting the free loaner from the BMW dealer, but that alone is not worth going there.

I could kick myself - my yellow 4x4 DSC light lit up a few weeks ago, I thought it may have been a sensor covered under CPO warranty so I took it to the dealer. Turns out it was a simple recalibration - software only - and it cost me $100 at the dealer. I'm sure my indy mechanic would have done it for much less.