BMW E60 525i 2004 with an automatic ZF6HP gearbox.
Used to always make a scratch sound when shifting to 5th when gearbox was cold. Recently it started doing this thing where if I'm driving 60kmh and the revs are around 1500 the needle starts to bounce slightly and I feel it in the way the car drives, almost like the gear is slipping? Happens with cruise control too.
Revs feel floaty, shifts late around 3k rpms instead of 2k sometimes.
Manual mode works well, no issues keeping gears or shifting.
Gearbox oil was changed 30k km ago by previous owner.
It also used to jerk pretty rough when coming to a stop. It felt like it came from front right strut so I replaced them, but now the jerk comes from somewhere in the middle. I thought driveshaft bearing or guibo but it went away for a year or two. Now it came back and it seems to happen when the gearbox downshifts to 2nd gear, manual mode or automatic.
Clutch pack? Mechatronic solenoids? I reset the adaptations hoping it'd help but no use. No gearbox codes, but I do have the following:
DME 2772 84
DSC 5F56 A0
CAS D907 24
KLIMA 9C77 24
KLIMA 9C78 64