Unfortunately, they all do that.

I was fortunate and had the transmission replaced under the certified pre-owned warranty. However, this condition was starting to come back after about 30k miles on the new trans. I did the 6L transmission fluid drain/fill process and that helped it out. Used the ZF Lifeguard 6 fluid. Not cheap, but it really helped. Transmission shifts very smoothly and no 2-1 downshift slam -- not even a hint of it.

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Kirk
Las Vegas
2016 X5 40e Mineral White/Black Dakota Leather, ZLL, ZCW, ZDA, ZDB, ZPP, multi contour seats, rear side window shades, HK stereo
2011 E90M3, 6-speed manual