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P0736: reverse gear - incorrect ratio
Could be a sensor problem, or one of several internal issue with the transmission (wear, valve, solenoid, etc). This code requires further hands on diagnosis and a proper test plan to be carried out before the exact cause can be pinpointed. The simple P code is too generic.
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that could also be a communication problem between the shifter and transmission then.
I would have it checked on BMW equipment for this type of fault