Clutch sounds fine to me. The judder is normal for BMWs. Not sure why. What you are experiencing is a gearbox issue. I've got 180k mi on mine and the clutch still grabs fine. Reverse grabs fine on mine but first is stubborn often. Consider changing the gear oil (its about time to change mine too). That will make the gear engagement smoother.
On the N52 the flywheel is about $700 and the pressure plate and disk is about $300 in parts only. Not sure about the labor. If you have clutch judder, I would recommend you change the flywheel as well. Some people have said that the flywheel can be resurfaced, but I have always been under the impression that dual mass flywheels cannot.
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