Reverse to Drive slow takeoff
 

When the car is shifted to drive from reverse the X5 will sometimes rev high and then grab. It seems to only do this on initial startup(cold). I turned off DSC to see if that had anything to do with it. Any thoughts on this or warranty issue?

(1) Possibly need new updated transmission software from BMW dealer or (2) Your transmission is about to break down.

There's a TSB on this from BMW...
 

...search the forums or the web for details. There's a defect in the torque converter that allows all of the fluid to drain into the pan overnight, which causes the delay on a cold start. I recall seeing a TSB from BMW that the solution to this particular problem is a complete transmission replacement but they will only do so on a "customer complaint" basis and only through November 2006! I will look in the TIS tonight to see if I have the details and update the post.

Update
 

I found it on TIS:

Title: Positive engagement in drive position D delayed.
Number: 24 02 03 (055)

Updated: 12/2004

Vehicles: E43, E53, E83 with A5S 390R
Mfr. Dates: 2/2003 thru 11/2003

(GM5 Transmission)

Complaint: The first time drive position D is engaged after a lengthy period out of use, e.g. overnight, the transmission only gains positive engagement with a time lag (longer than 2 seconds).

Cause: Leakage inside the transmission, C1 clutch empties during the parking period.

Procedure: In case of customer complaint replace transmission as described in Repair Instructions 24 00 48.

Defect code: 24 00 90 63 00 (NOT contained in the official defect code catalogue but is inlcuded in the system).

Reimbursement is limited to 36 months/100,000km and only possible until November 2006.