Weird ZF6 Transmission Issue

[dmbabu]

Hello! Newbie here.

I have a weird transmission issue on my 2012 X5 35d.

When in Drive, when coming from a complete stop (and especially going up a gradient) the transmission does not engage immediately. I have to feather it severally before it gets going. Then suddenly it kicks in and the car lurches forward and we are fine.

Also the car sometimes feels lazy to accelerate (especially when overtaking) but when it catches on it moves just fine.

I don't know if the two issues are related but there are no codes related to the DDE or Drive train.

Never changed my tranny fluid (at 87K miles now)

Could my tranny be slipping? What are the common symptoms of a slipping tranny? Can this be cured by a fluid change and adaptation reset or is it symptomatic of a larger issue? Anyone else ever had this?