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Yeah, I know that BMW touts its transmission/differential oil to last a lifetime, no changes necessary.
However, over the weekend I changed my manual tranny fluid to redline ATF. The shifting becomes noticeably smoother. My tranny was alway notchy between 1st and 2nd, the redline D4ATF cured it completely. For the differential I used 75/90 Mobil 1.
Highly recommended.