Try an AT reset. Will either work or not . . yours is newer than mine.
Turn ignition key to second position (just before start - all lights on etc but NOT cranking). Put foot flat to floor on accelerator pedal and hold for 25 seconds (the engine is NOT running at this point so safe). Release the foot. Start the car.
This will remove the "learned" memory of the tranny and put it back to learning mode again.
If this works you will notice an immediate change in the way the AT behaves. The AT (well 2006 and 2007 vintage 6 speed AT) tends to learn / adapt itself into stupidity over time.

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X3 E83 2006 3.0d