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I’ve owned 5 bimmers, all with a manual transmission. Bimmer #4, a 2001 330Ci, needed the transmission to warm up before it would shift smoothly from 1st to 2nd. My 2018 M240i is the same way. Both transmissions are made by ZF. My 1985 325e (a tank) never had this issue and the transmission was made by Getrag. So, I think this is endemic to ZF transmissions.
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