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I had a similar issue, but it did that when I put it in reverse. It delayed then slammed into gear. It happened even when the car was warm though. Just got a new tranny under BMW cpo, it's all fixed! I hope you don't need to do the same.
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NAZARIO 2015 M3 / 2012 X5M BMWCCA
Kiss French, Wear Italian, Drive German
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