i had the same problems, lurch, rough shifting etc..dealer reprogrammed my trany 3 times..it got slightly better the third time but it was still there..finally complained and asked service manager to please help me and they were able to get bmw to replace tranny because still under cpo...it is much better now hopefully will stay that way....2005 4.4 with 30k miles..tray was just changed 3 weeks ago..rob