Changed the fluid reset adaptions etc. Nothing serious going on in there.

The 5th to 6th is a bit better but sometimes clunks.

The 6th to 5th is still shocking, like someone rear ends you to get going but only from when you do it from around 45mph. If you do it from 60 ish then it's smooth.

2-1 jerk is still there.

Reverse takes about 4 seconds to engage.

Yesterday I was driving about 50mph, went for a kick down and accelerated hard in 5th to the redline, it went for the 6th change but didn't really engage 6th and went back to 5th and it was like in this mid point between 5th and 6th and eventually the trans failsafe came up. Stopped, turned car off and on and carried on as normal. Also this X5 has been used for towing in the past.