x5 e70 tranny acting weird

[solrac6262]

Hello all
I've noticed that when coming to a full stop, almost at 10mph when the tranny is changing gears from 2nd to 1st I think, I can feel the change of gear is hard to explain is like the transmission is not on time when braking, I ask my S.A about this and he told me that the tech got faulty codes but he was going to reprogram the tranny but maybe it was a defective transmission, I took the car back but having the same issue told the S.A but now this time he is telling me that nothing is wrong, I was driving home today and noticing all this again .. some one had something similar? or problems
I have an 07 e70 3.0 with 55k

thanks