The fact that you hear in both reverse and drive is odd. Try listening to see if different noises in the gears. Are you sure it's the trans? The noise might due to the different vibrations the truck does in gear. I don't think it's the torque converter cause you would hear the noise constantly. Try listening again and post some specifics.

When we first purchased our X5, it made a rattley noise in the tranny while in Drive. I checked the tranny fluid level and found it was low. I topped up the level and the rattle stopped. There is a procedure for doing this while the engine is running. If the procedure is done while the engine is off, your fluid level will be dramatically low. Search the forum for tranny oil change procedure.

Good Luck.

fluid is good from the at reservoir under the hood and yes in Drive and Rear. no noise in Park and Neutral and if i do sports mode or manual its making noise but a lot quieter.

should i check fluid in the tranny or just the reservoir under the hood.?

There is no way to check the transmission fluid from under your hood. This is all done from under the vehicle.