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Normally, the transmission would go to failsafe and it would show on the dash that is in failsafe and that you should contact the dealer. If that's the case, then it definitely your fluid level. I had this issue and I changed the tranny pan/filter as well as the fluid (it took 8 quarts). While I was under the car, I also changed the guibo joint. My shifting feels better and I don't have the hard shift anymore. Bmw wanted me to replace the transmission and I took the car to my house and changed he pan as well as the fluid and the guibo MYSELF. I've just got upgraded from an A accountant to a B Mechanic!
 
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