My 02 500i has been doing that since new. About half the time, it won't go from low range to high. Put it in gear, give it just a bit of gas, and it slips right over. Gears probably lined up funny.

I suppose they could cure that by tapering the gears on the end, but you'd lose some tranny strength. I'd rather have it strong and occasionally cranky than easy but weak.

BTW - no transmission problems at all, other than that. Five years, hauling multiple 600-800 pound firewood loads every weekend in the fall/winter, and it's still going strong.