Lurching/weird jerking when In reverse

[Hollis.rivers99]

*2003 BMW 325i M54*

So I just got off work, let my car warm up like normal, noticed it was idling funny, like it was vibrating kind of a lot (car has been a pain in my backside since I got it) and I put it in reverse, (heard the big clunk like normal which I still don’t know what that is,), and it would t reverse, it just sat there in reverse, so I gave it a little gas, and it lurched, and continued to lurch. Have your parents ever played that game on the road where they would keep slightly hitting the brakes to make the car lurch? Well I can’t really explain it better but on top of that it felt like I needed a ton of RPM’s to get it to go. Got into the freeway, did 85 all the way home without any other problems, but I decided to pull into my driveway instead of reversing onto the side of the road where I usually park. I know that clunk could be a tranny mount (thank you other forums) but man I’m new to BMW and cars in general and honestly that lurching is worse than when my sway bar link broke while I was driving. Any ideas?

[MarcoZandrini]

The first step in diagnosing a problem is to scan the engine computer (DME) and the automatic transmission computer (EGS) for codes. Has the transmission ever been serviced? It could be low on fluid. Be advised that BMW sourced automatic transmissions from GM of France and ZF of Germany. They are different transmissions and require different fluids. The GM transmission fluid pan has smooth sides; it uses Dexron3 fluid. The ZF transmission fluid pan has ribs; it uses a fluid from Pentosin.