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May not be a bad idea to replace the front (upstream) O2 sensors if they're original.
Two vehicles of ours, a '11 E90 3-series with ~120k miles and a '16 Ford Transit Connect van with over 200k miles, both had poor driveability issues (loss of midrange torque, strange transmission shifting). I replaced the upstream sensors in both vehicles and the symptoms went away. Neither car showed a code for a failed sensor.
I am going to treat O2 sensors as a wear item from now on, as manufacturers recommend they are replaced every 100k miles or so.
Let me know if you do this and if it improves your situation.
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