X40d reverse to drive issue

[Blacksterbmw]

Hey guys,
I've tried to search the net for an answer with no luck. The bmw guys also have no idea. So here we go
I have a 2011 x5 40d msport with 44k miles on the clock. After a long drive if I engage R and reverse all is fine but when I go back to D it hesitates for a second to engage and then violently jerks into gear. Driving up through the gears is fine, smooth and no bad noises. After it sits for an hour it'll reverse and drive perfectly fine again. Bow have checked for error codes and there's nothing showing and they're also reset the adaptive drive twice with that having no effect either. They really don't know the problem but have felt it themselves and admitted it isn't right. I've no warranty left so I have to foot the bills but only options I'm being offered to try and see is changing the gear box filter and oil and also updating the software.
Has anyone experience with this issue as its a bad enough jerk that you just know it's going to end bad some day

[X5Sport]

At a guess it sounds like the hydraulic control servo might be sticking when hot and not engaging one of the clutch packs correctly.  Without a stored error code it could be a real tricky one to find though.  >:(

Fluid & filter change could be the answer - especially at that low mileage.

[Blacksterbmw]

Thanks for the reply. The dealer is going to try oil and filter next week, the update to the software only caused me loose 4 wheel drive and dsc but luckily they were able to sort it all out. They did warn me in all fairness that it can wreck control modules