I have a 2011, need to pull it twice to unlock. Don't recall seeing an option to automatically unlock when in park in iDrive but it might be there.
BTW, this is by design. When doors are locked and you manually pull the handle the first time to unlock and the second time is to actually open. It's the same for a car with a door lock nub or toggle, you need to set them open before the door will unlock. BMW combined both functions into the door handle. I like it that way.