I've that with my car sometimes its not a bmw tho but its the same issue im having. a bit of research of my car people said that you can change the transmission oil sometimes it helps, if not it might be something else. if the transmission is " sealed " and says it never has to be changed its pure bs

When I start the engine for about 5min ( few miles) I can feel gears changing and after that is smooth....should I worry about that? I reset adaptations on ista. It's a bit better but not perfect. Anybody have/had similar issues? Ant thoughts what could it be