So did the fluid change make it go away?? I bet if it did, it came back.

6 months and 8K miles and trans smooth as it should be. After the fluid change, all "shuddering" when turning has gone and not returned.....fixed?? Time will tell. Since then had trailer hitch installed and pull Horse trailer and still no problems

I asked the SA if this would be noted in my file, if it came back, would they swap out transfer case and she said most likely ( even if off warranty).

Good to know! thanks

I am experiencing the same issue on my 2011 X5 3.5 gas. I described the symptoms as notched, to the service rep at the dealership It is also feels like its sputtering and slight misfire on acceleration.
Its in the shop again in this week for the same thing. Last night I was notified the transfer case box causing everything. I will agree the notched feeling could be the transfer gear box, but the acceleration misfire sounds like a coil pack as well.