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Take it to a transmission shop that works on BMW transmissions that is reputable and have them take a look at it and pull any codes. The transmission fluid is said to last the lifetime of the transmission, by that they mean that if the transmission goes out at 200K or 50K then it has lasted the lifetime of the transmission. I still change my fluid and filters out on mine pretty frequently just for preventative maintenance. If it's not slipping or grinding gears it could be a couple of things. Low fluid, solenoids getting stuck or dirty (GM) and not building enough pressure, torque converter or EGS programming. It's hard to say until you have it taken to a shop. As a heads up, BMW dealerships won't touch your transmission except for maybe a fluid flush and that's only a couple, because most refuse to do a flush. They will more-than likely offer you a new transmission for 6-10K or depending on the codes you get, reprogramming the EGS.
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