I had the 2-1 tip procedure egs software update , it didn't help me. I needed a new mechatronics.

 

its possible it could be the differential. I had the same problem in my 530 that after awhile got worse and worse. I took it to the dealer several times and they were never able to replicate the problem. 6 months later when im out of warranty after a road trip to miami the problem is worse then ever where i actually hear what i thought was a banging noise coming from the tranny. On my last day there my differential popped and wouldnt engage. Had the car towed thinking it was the tranny turned out i needed a whole new differential. After the differential was changed problem was gone.