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Thanks for the info about a transmission fluid change, and I will have to find somewhere that reads BMW codes if I want to do it.
The only other issue occurs when the light comes on. If I continue to drive after the "trans Program" light comes on, the shifting (automatic) is jerky and the car revs up a lot without much response. Sometimes this effect is minor, sometimes it is very noticeable and difficult to continue driving much. I try to stop to turn it off as soon as possible, once I do so, the light goes off and the it drives fine.
I will try to see if there are any other noticeable issues.
Thanks for the help!
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