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Hi Automatic transmissions like everything else require regular servicing. The bands in the gearbox wear as they have material on them just like a clutch plate or brake linings. Periodically these need tightening up or cause a bang when engaging. Secondly an engine that is idling too fast can also cause this. Check the Transmission Fluid level too while you are at it, somtimes a low fluid level can cause problems. This must be checked with the engine running. Make sure the selector is in park or neutral and that the hand brake is engaged before standing in front of the car.

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Q: Why does your 1997 BMW 528I make a loud thump when you put it in park or reverse?
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