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Had been having this same jerkiness issue, especially on a rolling stop.
Took it to the dealer and they couldn't figure out anything, despite contacting engineers in Germany.
Tried the procedure on my 2012 (November '11 build) 528i XDrive and the car is soo much better!!
Going by the previous comments, it seems it's not a permanent fix, but if lasts even a month, it'll be better than nothing, as I was worried the transmission would be destroyed with a bad shift.
Thanks for the info and for bumping an old, but very useful post!
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