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I did mine at 68k and the fluid was already almost black. I couldn't imagine waiting until 100k+. ZF recommends 60k so BMWs "lifetime" fluid is just a marketing gimmick to reduce maintenance costs. This is why BMW had so many transmission failures back in the days of the gm trannys.
I'm at 73k now and my trans feels fantastic. I plan to stick with the 50-60k recommendation from ZF.
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