Hey guys I am having the same issue with my 02 X5 3.0

could it be as simple as low fluid

My issue is when I start it cold and go into reverse the rpm's drop and it wants to stall but 10 min later after the truck warms up it is fine and will not do it again until after it sits for a long period of time

I have no codes and no issues driving it at wall what was your outcome

Thanks