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I started experiencing exactly the same power loss issues as the OP a few weeks ago, and it's been becoming gradually worse.
Yesterday evening, the car went through a crazy five-second period of conitinually trying to change gear and losing power before a drivetain error popped up and it reverted to limp mode to get me home.
This morning the car struggled to start, and cut out a few times before it finally started but again showed the drivetrain error and went straight to limp mode. It's booked in with the dealer for the week after next.
[Oct 2016 xDrive 20d]
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