I had a new 2014 335i and the dealer eventually replaced the transmission after several visits. The issue was a delay in between gear shifts most noticeable when going from 2 to 3, or 3 to 4. So with the delay, there was jerk when it engaged...not sure if this is what you're experiencing. Dealer's 1st attempt was to reset adaptation which at first I thought was an improvement, but it came back. Tried some other stuff, including sending a fluid sample for analysis and mechatronics replacement. Finally agreed to replace the complete transmission. Long story...there's a thread here somewhere on this.
I'd take it to the dealer. If warranty recently expired, and it's a serious issue, they may help.
BTW, my 2015 warranty just expired last month.
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