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Do you know if the transmission is still cold? On both of my Miatas (ND and NC) that I've owned the same thing happens until the transmission oil warms up. First gear gets really hard to get into after stopping and I need to get into 2nd then first. However, after the transmission oil warms up, it becomes much smoother.
I've never driven a BMW manual so I'm not sure if it's relevant though.
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