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I may have an idea of what is going on as I noticed its something I've done on occasion downshifting into second.
I've noticed that when downshifting I sometimes push the shift lever too far to the left where reverse is forward. I'm not a fan of how with BMW's reverse lockout you just push a little bit harder past where the gates for 1st and 2nd are. I much prefer how Audi does it for 6 speed shift patterns where you need to push down vertically on the shifter when its pushed leftwards.
It doesn't make any grinding noises or anything and it wont go into gear. You are probably wiggling it just enough to get it to pop back out past the lockout by the time the revs drop and then are able to get it in.
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