Transmission problem

I have an 86 528E and the reverse has quit working. The car only shutters when I put it in reverse. Also, it sometimes comes out of gear when it is going forward. The transmission fluid looks good. I'm wondering if my transmission is completely gone. It only has 130,000 miles.

If it won't go in reverse, the transmission is probably past its time. I still have the original transmission on my 525e and it works perfectly, but one in a few will surpass their lifetime much earlier.