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transmission failsafe program on 2005 BMW X5

Rookie cbe0621eac06868b3efe0d8d1d3611e23c60d3114864ea2ec19a68cfbd3eebab
the trans failsafe program light is on and the gear doesnt work properly it jerks wen the car is gradually coming to a halt lets say between 0-20mph..
(1) Answer
It caused by fault on your transmission,make sure you check it with machine or you check your alternator output