Cannot Shift out of Park into Reverse - Intermittent

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I have a 2001 BMW 325xi (E46) with 160k miles on it.* Occasionally, when i turn on the car, I cannot put the automatic transmission into REVERSE from Park.* and then the DSC and Yellow "BRAKE" lights appear on the dash.* In order for me to get the car into reverse, i have to turn OFF the car and then one of these two things will work:

1. Turn car back on while*turning the steering wheel at the same time I'm turning the car on.*

2. Lift up the transmission 'boot' to expose the gear box mechanisms and lift up some lever on the right, which unlocks the transmission, then shift it to Neutral, turn on the car, and then shift to Reverse (sometimes this doesn't even work and I'm in Neutral after i turn on the car and cannot shift to Reverse Or Drive), then I have to revert to point #1.**

Sometimes I have to turn on and off the car 5 times before and trial and error either of the 2 above options before I can get the car into reverse.* Super annoying.**

Anyone know how to fix this issue?
Thanks in advance!