My 2018 530e does this as well. It presented itself after an ECU update I got recently. In addition to rolling back, even on a slight incline; going from drive to reverse and vice versa feels like it takes a couple of seconds for the transmission to engage. Plan your 3 point turns with some extra time. I need to take it back and have them reverse the update until they figure this out. It never use to do this.
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