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FWIW I think my 135i (N55) is in pretty much tip-top shape and does the a similar thing. If I start the car (cold), and put it in reverse, I have to remember to give it just a little extra gas. I haven't had it stall but it does hiccup a bit. I have driven a clutch for like 30 years so maybe I'm just a fraction of a second quicker and can catch it. Similar going forward as well, not just reverse. If the car's warm it's never an issue.
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