I tried software update by bmw garage first, waste of money, didn't fix the lurch.

Hi, I had same problem with my car, same year, the lurch when coming to a halt was like someone thumping into the rear of the car, sometimes it was really bad and other times not so bad, anyway had gearbox service with new seals and also replaced all the solenoids think it is seven, cost was £800 ...

Hi, bit late with this reply, I have 05 3.0d, I had what I call 1st gear thump which is like someone smashing in to the back of the car when coming to a stop, had gearbox specialist have a look and oil had previously been changed so took a gamble and had all solenoid valves changed, think it is 7 ...