The car wants to go while the brake is pressed.
I thought I had got onto a Toyota forum by mistake!
But it may be a drive-by-wire type of issue.
The warranty running out should not be a concern - within warranty they are working on the problem, and have tried at least 2 unsuccessful fixes (ECU and Transmission computer).
So it doesn't matter if the warranty runs out before the correct fix is arrived at - it will still be fully covered.
Haven't seen anything similar reported here, so can't offer any useful suggestion.
Hopefully the Regional BMW people or HQ will come up with something soon.