Transmission Failure problems of the 2006 BMW 5 Series

I've had problems with the automatic transmission since purchasing in Dec 2008. The vehicle jerks violently as it shifts after stops. A few months ago, the transmission wouldn't shift up until I put it in neutral and shifting it back to d. Currently, it jerks during up shifts thru all gears, most of the time. I have brought it in to the dealer multiple times over the years. They claim that they couldn't find anything wrong. I am very worried of the transmission failing suddently and causing a crash.

The automatic transmission of my 2006 BMW 525i, with app 65,000 miles, failed and the dealer tell me that I have to pay for a replacement. I feel that a transmission should last more than 65,000 mile and thus should be replaced at BMW's expense. My research indicates that these are an anusually high rate of transmission failures in these cars, and the recall should be mandated.