Jerks/shakes and gears start blinking

2006 BMW 320D
300,000 MILES • 4 CYL • TURBO • 2WD • AUTOMATIC
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GRANTM05
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My car listed above E90 drives well, but when I get into traffic or idle for sometime it starts to shake/jerk in drive or reverse. The gears on dashboard start blinking. There is a loud clicking sound just below the gear lever.

The issue started on the very same day I took for a decat for a separate issue. Am not sure if this was just coincidence.

I took it to a friend for a scan and it was throwing these errors not sure which ones relate to the issue at hand 51AD, 3EF6, 4DF3, CF16, CF15. There is quite of these CF errors.

I made a video of it doing just to help with my explanation. https://youtu.be/wHusJNxbA38

Any thoughts appreciated.

Kind regards.
Mar 16, 2018 at 12:36 PM
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STRAILER
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It sounds like you have a transmission shaft speed sensor that is not working right. Is this a euro car? I dont have access to these codes numbers do you know what they would be in a "P" code format ? Any videos you do you can upload in your reply here
Mar 19, 2018 at 11:30 AM