eratic shifting on 2005 Mini Cooper S

My 2005 cooper s will shift eratic and sometimes jump out of gear at highway speeds. It will then get stuck in 3rd. If I stop and put the vehicle in park or shut the vehicle off it will drive fine for a while. First to second is sometimes a crisp hard shift. If I use the "SD" mode with the paddel shifter there are no issues. 76,000 miles on the Cooper. No check engine light and no codes..Thank you Warren

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