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The problem is with the gear oil. To keep ahead of the rest BMW started what they call life time oil for their gear boxes, though that sounds great it doesn't really work in reality, they have now gone back to recommending a gear oil change every 60k miles.
In short you need to change your gear oil and soon, the oil in your gear box is no longer effective and will damage the gear box. You'll need about 5 litres for your car and costs around £15 a litre, expensive stuff!! I had the same problem with my 328i auto, the dealer was clueless and kept quoting the lifetime oil, I changed the oil and the problem has gone and it's so much smoother.
I'm assuming you have an auto transmission, if you do, then if you are lucky changing your transmission oil might do the trick.
If you want to try this, then you simply need to change your transmission oil drive the car for a few hundred miles and change the oil again, this has in some cases solved the problem but its not guranteed.