Spent this weekend doing the filter and fluid change on the auto box.
Had the lurch when coming to a stop (once gearbox oil came upto temp).
The change seems to have cured it by around 80% i reckon. Only lurches
every so often now. and it seems to be when coming to a complete stop
from quite a speed such as 30-0 rather than gradually slowing down. I
will be doing another filter fluid change in around 1k miles to ensure
majority of the fluid is new-ish.

Also did the transfer box and 2 diffs. My! What a difference, So much smoother.

For the diffs (used just under 3 litres in total):

http://www.eurocarparts.com/ecp/c/BMW_X5_4.6_2003/p/car-accessories/engine-oils-and-car-fluids/car-tranmission-oils/manual-transmission-fluids/?522776021&0&cc5_868

For the AutoBox and Transfer Case/Box

http://www.fleetfactors.co.uk/lubricants-c8/automotive-oils-c16/texamatic-7045e-p387

The autobox used around 4.5 litres (thats what came out) and the transfer case used around 3/4 of a litre.

Hope this helps.

Great stuff mate....

Good work

Forgot to mention car is on 76k.

Great stuff mate....

Good work

:)