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rear vehicle jerking on 2004 BMW X3

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I hear a jerking noise in the rear of my vehicle while driving around 10 to 30 mph but nothing while i am on the highway. Is this a transmission problem?
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It may be, but it may be other things as well. Things like this really need to be experienced to have an idea where they are coming from, I suggest taking it to a shop and take someone for a test drive, let them experience the problem.
i have the same problem but bmw will fix it for me (3 days from now coz part needs to be ordered)since my car is still under warranty. i forgot what it's called but it's something from your 4wd connected to your transmission. they said it will cost atleast $3,500.
I had the same problem with my x3 2004 2.5si. I brought it to the authorised BMW repair shop. It took them some time to figure it out about 2 days. They then added transmission oil and said they did something with the s or x drive. Cost me less than US$100.00.