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Been dealing with this issue since I bought my 2011 535 ix, in 2014 with 38000 miles. At 70000 I did trans fluid, to no avail. Jerkiness got better but still present. A few weeks ago, I got a new obd2 scanner, with a few options for just bmw cars. I reset Tranny adaptations and did a fluid change again, the time at 105k miles. At first I thought I broke the transmission, shifted so bad, jerking and violent shifts. After a few days of driving, I can say the car behaves like if it had a new transmission. Smooth shifts, shifts are held longer, which makes the car much more responsive. I've read hell stories about doing what I just did, so I wouldn't recommend it to anyone, I guess I just got lucky.
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