Test drive an '11 with the 8-speed transmission before giving up on the X5. Very smooth shifting in non-d/s mode.

Otherwise, has the '07 always had that issue? Could be a fixable problem.

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AtlX
2014 X5 35i M-Sport While/Black (wife)
2013 X5 50i M-Sport Silver/Black
2011 X5 50i Silver/Black (retired)
2008 335i Convertible Space Gray/Gray (retired)
2004 M3 Convertible Blue/Gray (retired)
2001 X5 4.4i White/Black (retired)