2005 735i having transmission problems going in reverse sometimes it goes forward

New member - i have 2005 735i and i am having transmission problems. When i put it in reverse the car either goes back into park or goes forward. If it doesn't engage i shut the car off and wait a few minutes, it eventually goes into gear. I took it ito the dealershp once after a day and a 1000. Dollars they said it may be a module and it would cost about 5000 to fix.
Any suggestions would be appreciated.

First try mechatronik sleeve and adapter
If no help replace your solenoids

Or replace mechatronik module as a last resort