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My E60 530i did this, got worse over a year till it started jolting 2 or 3 times before finally putting its self into safe mode with a big red cog symbol on the dash. Turning the car off then back on would then solve the problem for a week or so. It got worse and worse till it was doing it every day!
Had no warranty at the time, tried software as well as stripping the gear box and replacing a faulty connector but this didn't fix it.
The independent BMW garage I was using suggested it might be the mecatronic? unit which was going to be £1500 fitting but they weren't 100% sure it would solve the problem. Only other choice was a recon box but that was going to be about £3500 fitted!
Hope you don't have the same problem I had, whatever it was!
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