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Hello OP,
In regards to servicing the transmission you'll need to temporarily remove the mechatronics unit and then install all new seals/sleeves, as well as fluid and pan. ZF recommends servicing the transmission as such, every 50k miles or so. Since you are having issues, I'd advise replacing the solenoids also. It's a little time consuming but it's a project that most any DIY can perform. As Scuba noted, the transmission temperature has to be at a specific temperature for final top-off of the fluid. Afterward, you'll need to reset the adaptations via BMW software. It will take the vehicle about 350 miles to re-learn the shifting process, so do not drive it aggressively during this period. Just drive it casually in order to limit any hard shifts.
Good luck,
Ralph
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