I have the same issue (2011 328 coupe). I park it underground garage, but about once a week, my car starts to shake/jerk as I'm reversing. Once the car has been driven for a few minutes, it runs fine. It happens primarily when I reverse out my spot.
The other day, it was parked outside all day. When I let off the break, the car shakes/jerks and feels like it will stall. After 5 minutes it drove fine. Is that normal? Or should I take it in?