reading the info above I have similar problems with the transmission. I have a 2001 740IL and today it revved to about 3000rpm then jumped into gear but could smell a burning after that. Last week it was doing a lot of shaking around 35mph after I had driven upto 110mph (not tyre balancing).
With 164,000 on the clock and full dealer history is it worth changing the oil in the transmision? or any other suggestions?