Just did it on my E91 - success I can change gears even when in D (Alpina software). However I think I broke my slip ring - it gives a click sound every revolution now. :/ Damn!
Edit: One very peculiar thing; When I first drove it, it was pulling right, just like when you have a flat tire and when i drove about 50km/h I could feel that it tried to brake just slightly every 0.5 second or so.
I think it was the ESP that was trying to "get to drive straight" since the steering angle sensor has been reset when I disconnected the battery. After I reset the steering angle sensor - it went away.
