Anyone out there or can you recommend a ZF specialist who i can have a chat to about what to do next i have done filter, fluid, mechatronic
seals all ZF parts reset on inpa no codes still bump between 1\2 in manual from first to second it is like a very mechanical bump when at a standstill ... i just need advice what to do next...? 2005 30d 130k......Muz
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gearbox advice
gearbox advice
Hello and 
Have a search on the Forum for the ‘lurch’ as it’s a common issue. Sometimes fluid changes and adaption resets fix it and sometimes they don’t. It may be a firmware upgrade could sort it. It could even be tyres (tread difference of more than 2mm between any wheel(s), or tyre choice fitted. General wear and tear can be a cause too.
Where in the UK are you (approx). That would help members to find a nearby specialist to you.
Have a search on the Forum for the ‘lurch’ as it’s a common issue. Sometimes fluid changes and adaption resets fix it and sometimes they don’t. It may be a firmware upgrade could sort it. It could even be tyres (tread difference of more than 2mm between any wheel(s), or tyre choice fitted. General wear and tear can be a cause too.
Where in the UK are you (approx). That would help members to find a nearby specialist to you.
Never anthropomorphise computers. They hate that.gearbox advice
Thanks for the quick reply I have had BMW auto's for years but never the six speed or 4x4 so don't no what to expect but first thing was to service the transmission I live in Fort William but will travel anywhere for the right specialist... I have been looking in to the solenoids but don't want to waste money if it is more sinister.......cheers Muz
gearbox advice
BMW xDrive cars with the 6sp box (1st gen) do suffer from issues with the box itself. Error codes will normally start to show up with the clutch and brake units within throwing ‘speed implausible’ faults. Nothing you have said indicates a gearbox issue at this point in time. Loss of gears, bad gear selection in auto, ‘burnt’ smelling and dark transmission fluids are a giveaway.
The ‘lurch’ is quite common and usually just an annoyance more than a sign of trouble though. Getting an error code readout including the transmission system is the first thing to try. ZF may have a centre near you so it’s worth calling them, but any decent transmission specialist should be able to advise, even without seeing the car.. The one I used however is 300 miles from you! The ZF website (aftermarket.ZF.com) or a search for local specialists in your area could reveal a more local support team. Your nearest official teams seem to be in the Central Belt covering Edinburgh and Glasgow.
One area that does seem to trigger the most issues is the tyres in use. xDrive cars with different size tyres front/rear are the most likely to suffer from this as the rolling diameter of the tyre is different, with some brands being wildly out. One owner on here found a difference of more than 30mm in the circumference - and that’s per revolution! The answer is to either use the correct tyres with a BMW ‘*’ mark on the sidewall - or a star on newer versions - as these are matched correctly. Also never have more than 2mm difference in tread depth between any wheels. This can mean a single puncture or worn tyre resulting in a complete new set being needed. All the tyres should be the same make/model. The problem is that these differences cause transmission ‘wind-up’ and it can if ignored cause serious damage to the system (and your wallet!). Broken diffs and transfer boxes, or over stressed auto boxes can be (in the absolute worst case) result. Odd rumbling noises, uneven drive at low (walking) speed - especially on full lock are clues. It’s an issue all xDrive models right up to the last generation cars (and those of VAG, Porsche, Mercedes, Jaguar) with staggered wheel setups have.
Let me stress again that none of the above may be your problem! Transmission lurch is common on the E53 and some owners have yet to find a cure, whilst others have found servicing, adaption resets, changing tyre type or firmware upgrades help or eliminate it. Others have found it was early warning of a box failure in the rarest cases.
The ‘lurch’ is quite common and usually just an annoyance more than a sign of trouble though. Getting an error code readout including the transmission system is the first thing to try. ZF may have a centre near you so it’s worth calling them, but any decent transmission specialist should be able to advise, even without seeing the car.. The one I used however is 300 miles from you! The ZF website (aftermarket.ZF.com) or a search for local specialists in your area could reveal a more local support team
. Your nearest official teams seem to be in the Central Belt covering Edinburgh and Glasgow.One area that does seem to trigger the most issues is the tyres in use. xDrive cars with different size tyres front/rear are the most likely to suffer from this as the rolling diameter of the tyre is different, with some brands being wildly out. One owner on here found a difference of more than 30mm in the circumference - and that’s per revolution! The answer is to either use the correct tyres with a BMW ‘*’ mark on the sidewall - or a star on newer versions - as these are matched correctly. Also never have more than 2mm difference in tread depth between any wheels. This can mean a single puncture or worn tyre resulting in a complete new set being needed. All the tyres should be the same make/model. The problem is that these differences cause transmission ‘wind-up’ and it can if ignored cause serious damage to the system (and your wallet!). Broken diffs and transfer boxes, or over stressed auto boxes can be (in the absolute worst case) result. Odd rumbling noises, uneven drive at low (walking) speed - especially on full lock are clues. It’s an issue all xDrive models right up to the last generation cars (and those of VAG, Porsche, Mercedes, Jaguar) with staggered wheel setups have.
Let me stress again that none of the above may be your problem! Transmission lurch is common on the E53 and some owners have yet to find a cure, whilst others have found servicing, adaption resets, changing tyre type or firmware upgrades help or eliminate it. Others have found it was early warning of a box failure in the rarest cases.
Never anthropomorphise computers. They hate that.gearbox advice
Thankyou again plenty to think about I did find a oddity last night I put the X5 on a high kerb passenger side and manual 1to2 no lurch going to try it again today .... going to put it on a ramp Friday to check levels again fingers crossed it is low in fluid. Where are you located as I am often in Lancs....Muz
gearbox advice
Update it took half a litre to fill and guess what it’s still the same I think I will have to put up with it ….
I have a computer boffin going to update the firmware but I think I will be pissing in the wind …..
I have a computer boffin going to update the firmware but I think I will be pissing in the wind …..
gearbox advice
Worth a try at least, it’s the simplest option.
Never anthropomorphise computers. They hate that.gearbox advice
Update gearbox working very well it took about 1 thousand miles but no lurch and as smooth as you would think possible for a 18 year old SUV am very happy 
gearbox advice
No Marti I tried doing all the factory reset procedure but got about half done then gave up and I just keep driving and it has learnt my driving style now and also there are a lot off steep hills where I live and it just got better and better I think who ever owned it before me was on the motorway a lot because it is really smooth the faster you go …. The computer guy wanted me to remap engine and gearbox but I have left it standard….
gearbox advice
Well at least its learnt its new home 
gearbox advice
It will get pampered for the rest off its life with me but I still miss my E38….