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I have the same exact problem with my '11 e92 M3. Does it at least once every time I take it out for a spin. It is kind of a pain, but when i feel it doesn't go into 1st all the way, i just slowly let out the clutch and let it pop in by itself. Don't try and jam it in there! It will only make it worse! Other than that, shifts like butter. I wouldn't worry too much about it.
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