I drive a 2003 E39 and recently, after a drive up north, I experienced jerking when accelerating and cruising. At low speed at less than 60KPH, the jerking felt like the ABS had activated. At higher speeds, the jerking felt like a misfiring engine or a blocked fuel line. These symptoms happened after the car could not start and it was diagnosed to be a failed battery. The symptoms remained after the battery was replaced. PML says it is due to gear slip because all electronics checked out OK. When I took the car to BVO, the symptoms did not appear. BVO suggested that I replace the gear oil and filter, but PML says this will definitely ruin the gear box because it is using "life time" oil. It seems like when I drive on S or M modes, the jerkings are less apparent or on some occassions, non-existent. Can some bros give some advice or have anyone of you experienced similar symptoms? Really appreciate any feedback...