of course my 2005 4.4 X5 has this issue as well , and I am totally used to not getting it kicked hard by now . I make sure I come to a complete stop , you can also feel at the very last second the gear goes down to first with a slight vibration and then I start accelerating again . Am I happy with it ? absolutely not !
I am still trying to make up my mind if I should get the fluid and filter changed . It doesnt bother me that much so I would pay thousands to get valve body or torque converter fixed.
I forgot who mentioned on earlier posts but yes I think this is a very very very common problem with an expensive fix and BMW should fix this issue at their own cost for whoever takes their cars to their services that has complaints.