Problem with 2004 x5

[Darren G]

Hi wonder if anyone can help or give me some advise, I have a 2004 x5 4.6is.

 when the car engine is cold it drives like a dream even when the engine is warm again dream to drive the problems is when you select reverse it is if it doesn't engage straight away then if you select drive, neutral or park and try again it works. This only happens when the engine is warm..! 

My truck gets serviced regular and only last week had the gear box oil changed by a local bmw specialist that I've been using for years.

Please if anyone can shed some light or advise.

the garage is closed until Jan 7th 2016

thanks in advance 

[E46King]

I would think it's a problem with the transmission itself. I would take it to a good automatic gearbox specialist to look at it.