I understand. When and where did you change the transmission oil? What oil was used?
BMW 2011 530xd rpm shake (ENGLISH)
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I changed about 7-8 months ago. It was not ZF oil but one which fits the same spec and is suitable for zf8. Anyway same situation (gears engage) was before and after change.
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You did it yourself? Was it a complete flush or just bleed & refill? Also, did you open/inspect the mechatronics unit?
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It was done by best gearboxes specialists in city so I believe they done everything correctly.