It may be something as simple as needing a software update or might go away with a fluid and filter change. Unfortunately, it sounds as though something is amiss internally. However, that doesn't mean it will need an entire overhaul. There may be codes in the OBC that will tell you more. I suggest you get it checked at a well recommended Independent transmission shop. BMW dealers don't repair transmission, only replace them.

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X5 4.6 2002 Black Sap, Black interior. 2013 X5M Melbourne Red, Bamboo interior
Dallas